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IEEE Workshop on Signal Processing Advances in Wireless Communications

作者： Hao Tao Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Xi'an Jiaotong University Suzhou Academy Suzhou 215123 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467355766

In this paper, we investigate the two-dimensional (2-D) direction-of-arrivals (DOAs) estimation of a mixture of non-coherent (including uncorrelated and correlated) and coherent narrowband signals impinging on a simple structured planar array consist of two parallel uniform linear arrays (ULAs), and a new oblique projection based method is proposed for estimating the DOAs of these mixed incident signals, where the computationally intensive eigendecomposition is avoided. In the proposed method, the 2-D DOAs of noncoherent and coherent signals are estimated separately, while the difficulties such as the separation of the noncoherent and coherent signals and the automatic pairing of the azimuth and elevation angles of same signal are overcame. Furthermore for overcoming the "saturation" problem encountered in estimation of coherent signals, an iterative alternate scheme is presented. The theoretical analysis and simulation results confirm the effectiveness of proposed method.

关键词： Direction Arrival Estimation

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Static stiffness analysis of a novel parallel manipulator

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key Engineering Materials 2012年 522卷 703-707页

作者： Li, Yunfeng Li, Changfeng Qu, Dongsheng Zou, Ling 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

One novel 6-DOF parallel manipulator with hooke hinges is presented to provide precision positioning in this paper. The geometric parameters and spatial architecture of kinematic pairs will influence the system stiffness directly, which impact indirectly the characteristics such as supporting capacity, driving burden and so on. The elastic model of the single chain based on the stiffness equation is presented and the stiffness model of the whole structure is constructed via the principle of virtual work. The static stiffness properties of the manipulator are discussed and the problem of finding the minimum and maximum stiffness and the directions in which they occur for a manipulator in a given posture is addressed. An example is given and the results show that static stiffness properties can be used to guide the optimal design of the structure. © (2012) Trans Tech Publications, Switzerland.

关键词： Manipulators

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SEMG control of an upper limb rehabilitation robot based on boosting of neural networks

SEMG control of an upper limb rehabilitation robot based on ...

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

作者： Li, Qingling Song, Yu School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312776

This paper presents a surface electromyography (sEMG) control strategy for robot-assisted upper limb rehabilitation after stroke which can make the rehabilitation robot follow the patient's intention. A new method for feature extraction is proposed aiming at non-stationary feature of sEMG firstly. And then, an ensemble classification method based on BP base classifier is brought forward to discriminate upper limb motions. Experimental results verify that the feature extraction method is superior to traditional ones with respect to recognition rate and convergence speed of classifier, and the ensemble classifier have stronger generalization ability and higher recognition accuracy than single neural network classifier. © 2012 IEEE.

关键词： Feature extraction

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Square-root cubature FastSLAM algorithm for mobile robot simultaneous localization and mapping

Square-root cubature FastSLAM algorithm for mobile robot sim...

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

作者： Song, Yu Li, Qingling Kang, Yifei Yan, Deli School of Electronic and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China

ISBN: (纸本)9781467312776

In this paper, we derive a new SRCFastSLAM algorithm to SLAM problem, which is the square-root edition of our previously proposed Cubature FastSLAM. The main contribution lies that: 1) in SRCFastSLAM, the particles for SLAM implementation are assembled by means and covariance square-root factors (rather than covariances) of the robot state and the feature landmarks;2) Due to the covariance square-root factors are directly propagated in our SLAM process, the time-expensive Cholesky decompositions on covariance matrixes are avoided, also the symmetry and positive (semi) definiteness of the covariance matrixes are preserved. The performance of the proposed algorithm is investigated and compared with FastSLAM2.0 and UFastSLAM using a serial simulation. Results show that the proposed SRCFastSLAM outperforms FastSLAM2.0 and UFastSLAM in precision and reduces the computational cost of the CFastSLAM obviously. © 2012 IEEE.

关键词： robotics

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Localizability estimation for mobile robots based on probabilistic grid map and its applications to localization

Localizability estimation for mobile robots based on probabi...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Zhe Liu Weidong Chen Yong Wang Jingchuan Wang State Key Laboratory of Robotics and System (HIT) Harbin China Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiaotong University Shanghai China

A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The validity of the proposed method is demonstrated by experiments in different typical environments. Furthermore, two typical localization-related applications, including active global localization and pose tracking, are presented for illustrating the effectiveness of the proposed localizability estimation method.

关键词： Covariance matrix Estimation Heuristic algorithms Iterative closest point algorithm Mobile robots Indexes

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Fuzzy control and connected region marking algorithm-based SEM nanomanipulation

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Mathematical Problems in Engineering 2012年第1期2012卷

作者： Li, Dongjie Rong, Weibin Sun, Lining You, Bo Zou, Yu Xiao, Wanzhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Automation Harbin University of Science and Technology Harbin 150080 China

The interactive nanomanipulation platform is established based on fuzzy control and connected region marking (CRM) algorithm in SEM. The 3D virtual nanomanipulation model is developed to make up the insufficiency of the 2D SEM image information, which provides the operator with depth and real-time visual feedback information to guide the manipulation. The haptic device Omega3 is used as the master to control the 3D motion of the nanopositioner in master-slave mode and offer the force sensing to the operator controlled with fuzzy control algorithm. Aiming at sensing of force feedback during the nanomanipulation, the collision detection method of the virtual nanomanipulation model and the force rending model are studied to realize the force feedback of nanomanipulation. The CRM algorithm is introduced to process the SEM image which provides effective position data of the objects for updating the virtual environment (VE), and relevant issues such as calibration and update rate of VE are also discussed. Finally, the performance of the platform is validated by the ZnO nanowire manipulation experiments. © 2012 Dongjie Li et al.

关键词： Zinc oxide

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Pressure dependence of Brillouin frequency shift in bare silica optical fibers

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Chinese Optics Letters 2012年第10期10卷 20-22页

作者：顾海栋董惠娟张广玉何俊徐宁 Douglas.J.Brown School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Electrical and Computer Engineering University of New BrunswickFrederictonNB E3B 5A3Canada

The effect of hydrostatic pressure （up to 28 MPa） on Brillouin frequency shift （BFS） within two types of bare, single-mode fibers is studied via Brillouin optical time domain analysis technique. Experimental results show a negative linear relation between pressure and BFS, with almost the same sensitivity in both types of fibers. The average value of experimental slopes is –0.742 MHz/MPa. This value is found to be well suited to theoretical analysis on the basis of data on bulk silica glass in previous reports. This preliminary evaluation may result in a new method for distributed pressure sensing along silica optical fiber.

关键词： Frequency shift keying Hydrostatic pressure Silica Time domain analysis

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Development of Chinese large-scale space end-effector

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Journal of Central South University 2011年第3期18卷 600-609页

作者：刘宏谭益松刘伊威介党阳高凯蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was *** flexible steel cables were adopted to capture the payload with large capture *** screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high *** experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,*** maximum connection stiffness is 4 800 N·*** end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.

关键词： large tolerance capture high stiffness connection end-effector flexible steel cable ball screw four bar linkage

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Calculation of the intracellular elastic modulus based on an atomic force microscope micro-cutting system

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Chinese Science Bulletin 2012年第36期57卷 1868-1872页

作者： YU Miao WANG JingHe WANG HongXiang LIU Li YAN YongDa ZHANG JunJie LIANG YingChun DONG Shen State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China The Fourth Department of Neurosurgery the First Affiliated Hospital of Harbin Medical UniversityHarbin 150001China

Better understanding of variations in the mechanical properties of cancer cells could help to provide novel solutions for the diagnosis,prevention,and treatment of *** therefore developed a calculation model of the intracellular elastic modulus based on the contact pressure between the silicon tip of an atomic force microscope and the target cells,and cutting *** cells(UACC-1598) and colon cancer cells(NCI-H716) were cut into sequential layers using an atomic force microscope silicon *** cutting area on the cells was 8μm×8μm,and the loading force acting on the cells was increased from 17.523 to 32.126μ*** elastic modulus distribution was measured after each cutting *** were significant differences in contact pressure and cutting depth between different cells under the same loading force,which could be attributed to differences in their intrinsic structures and mechanical *** differences between the average elastic modulus and surface elastic modulus for UACC-1598 and NCI-H716 cells were 0.288±0.08 kPa and 0.376±0.16 kPa,*** results demonstrate that this micro-cutting method can be used to measure intracellular mechanical properties,which could in turn provide a more accurate experimental basis for the development of novel methods for the diagnosis and treatment of various diseases.

关键词：原子力显微镜弹性模量计算模型实验基础细胞内切削系统力学性能变化接触压力

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Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation

Motion control of an underactuated spherical robot: A hierar...

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

作者： Liu, Baoyin Yue, Ming Liu, Rong School of Automotive Engineering Dalian University of Technology Dalian Liaoning Province 116024 China School of Electronic and Information Engineering Dalian University of Technology Dalian Liaoning Province 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

The inner suspension of a spherical robot undergoes an underactuated state which will be difficult for the underactuated system control, when the robot is rolling ahead. To resolve this underactuated control problem, an adaptive hierarchical sliding mode control scheme is proposed. The spherical robot system is separated as shell subsystem and inner suspension subsystem according to the movement. Then a pair of first layer sliding surfaces is defined for each subsystem, by which the equivalent control law is derived to ensure states of each subsystem approaching to their own sliding mode surface. Based on the first layer sliding surface, a second layer surface is defined correspondingly, through which a total control law is given to make sure that all states can converge to their desired value via Lyapunov stability theorem. Meanwhile, considering the unavoidable and uncertain disturbance in the unstructured exploration environment, an adaptive hierarchical sliding mode control scheme is adopted to estimate the uncertain disturbances in real-time. Finally, the simulation results demonstrate the controller's adaptability and validity. © 2012 IEEE.

关键词： Spheres

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