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A Highly Integrated and Flexible Joint Test system Based on DSP/FPGA-FPGA

A Highly Integrated and Flexible Joint Test System Based on ...

2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Minghe Jin Yikun Gu Jin Dang Fenglei Ni Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Institute of Robotics and Mechatronics German Aerospace Center (DLR)WesslingD-82230Germany

ISBN: (纸本)9781424447749

This paper analyzes that a flexible robot test system should have these properties of data acquisition, servo control, multi-communication modes, complex and fast computation, multitasking and friendly interface. This paper investigates a highly integrated and flexible joint test system for HIT arm based on DSP/FPGA-FPGA. This test system includes two hardware levels, Cartesian level and joint level. The Cartesian level includes a digital signal processing/field programmable gate array (DSP/FPGA) structure. Based on this level, complex control algorithm and fast computation can be carried out;the joint level has the other FPGA, it can realize two joints functions: all sensors data acquisition, servo control. In this test system, there are two communication modes: CAN bus and M-LVDS bus. According to the hardware architecture, a novel software architecture was designed, which consists of three levels: external user level, the higher level and the lower level. This system is flexible, many measures and experiments can be implemented by this system. Experimental results demonstrate the effectiveness of the highly integrated and flexible joint test system.

关键词： Test system DSP FPGA joint servo control

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Modeling and Simulation on the Contact Deformation Distribution in a Wire Race Ball Bearing

Modeling and Simulation on the Contact Deformation Distribut...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Weishan Chen Tao Xie Xiaobiao Shan Lili Wang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China College of Science Northeast Forestry UniversityHarbin 150040China

ISBN: (纸本)9781424447749

A mathematical model was firstly built for investigating the contact deformation distribution in a wire race ball bearing. The numerical computing program was developed in MATLAB, by employing an example of a wire race ball bearing with a 1000 mm diameter used in a large-scale caterpillar disaster relief robot. The contact deformation distribution in the elliptical contact zone of the wire and the ball was obtained. The finite element simulation was carried out to demonstrate the validity of the mathematical model and numerical method. It shows that the results by the numerical method are in good agreement with those by the simulation. The present work provides a significant support for studying the stiffness of the wire race ball bearing, and for boosting the application in the large scale rescue robot.

关键词： ELECTRIC WIRE BEARING BALLS Contact deformation Numerical methods Mathematical Model FINITE ELEMENT Disaster relief simulating CONTACT AREA Racial Stocks Modeling MATLAB

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Dynamic Analysis and Robust Reliability Design of Pan Mechanism for a cooking Robot

Dynamic Analysis and Robust Reliability Design of Pan Mechan...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Hong Wang Wei Zhao Bing Li Xiaorui Lin Donglai Zhang Harbin Institute of Technology P.R.China State Key Laboratory of Robotics and System (HIT)Harbin 150001P.R.China

ISBN: (纸本)9781424447749

As a novel service robot, the automatic cooking robot(ACR) has been attracting many people's attentions. But the existing products still have some disadvantages, especially the quick-return mechanism used as the main mechanism to turn over the pan. There are always large vibrations and noises accompanying with the motions of the quick-return turning-over mechanism. And its stability and reliability which are the important factors influencing the quality of the dishes are not high. Therefore, a proved turning-over mechanism is introduced based on the purpose of vibration and noise reduction. The dynamic analyses of the two turning-over mechanisms are done through Ansys and their low-order natural frequencies and vibration modes are presented in this paper. And it is concluded that the proved mechanism has smaller vibration and noise through the comparison of natural frequencies and integer displacements. Then, the key factors influencing the reliability of the turning-over motion are analyzed through the design and analysis of robust reliability.

关键词： Dynamic analysis cooking robot Natural frequencies Noise noise damping peroxyacetyl nitrate Turning parabolic reflectors Vibration Vibrations modes

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GPRS Based Guard Robot Alarm system Design

GPRS Based Guard Robot Alarm System Design

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International Conference on Internet Computing in Science and Engineering (ICICSE)

作者： Maohai Li Lining Sun Qingcheng Huang Zesu Cai Songhao Piao School of Computer Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robots in an integrated and highly portable manner, particularly in recent years the GPRS network provides wireless access of internet for mobile phone which becomes the most important and common terminal equipment. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, and add man-made intervention to the system, thus achieves a more convenient and reliable alarm system. The system mainly consists of two parts: detection of abnormal and dangerous situation in domestic environment and sending the alarm information as MMS form to the user's phone via GPRS networks. Finally experiments show that the alarm system can accurately send alarm information to the user's mobile phone. The system is low-cost, flexible, reliable, and can be widely used.

关键词： Ground penetrating radar Alarm systems Intelligent robots Orbital robotics Intelligent sensors Mobile handsets robotics and automation GSM Mobile robots Robot sensing systems

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Human Lower Limb Motion Recognition Based on Translation Invariance Wavelet Transform and RBF Neural Networks

Human Lower Limb Motion Recognition Based on Translation Inv...

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2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

作者： Shiguang Wen Hao Wang Yuzhong Zhang Fei Wang Chengdong Wu College of Information Science and Engineering Northeastern UniversityShenyang 110004 College of Information Science and Engineering Northeastern UniversityShenyang 110004 State Key Lab State Key Laboratory of Robotics and System (HIT) Harbin 150080

The effective de-noising of gait kinematic signals is the prerequisite and guarantee for correct recognition and diagnose. Traditional Fourier Transform and Wavelet Analysis can introduce the additional disturbance during de-noising process named Pseudo-Gibbs phenomenon. In this paper, translation invariance wavelet de-noising method is proposed to process the kinematics information acquired from inertial sensors mounted on the lower limb of human. This way, Pseudo-Gibbs phenomenon was inhibited effectively and high precision classification of human lower limb motion pattern was achieved by combining the propose de-noising method with radial-based function (RBF) neural network. Experimental results demonstrated the effectiveness and correctness of the proposed system.

关键词： Translation Invariance wavelet analysis RBF neural network lower limb motion pattern classification

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Humanoid detection of indoor dangerous gas source by mobile robot

Humanoid detection of indoor dangerous gas source by mobile ...

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IEEE International Conference on Automation and Logistics

作者： Fujun He Yingfei Sun Xiaolei liu Zhijiang Du Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching.

关键词： Mobile robots Robot sensing systems Gas detectors robotics and automation Helium Indoor environments Robot vision systems Fuzzy systems Fuzzy logic Sensor phenomena and characterization

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Working principle and design of a ring type traveling wave ultrasonic motor using composite transducer

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 200-204页

作者： Liu, Yingxiang Liu, Junkao Chen, Weishan Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A ring type traveling wave ultrasonic motor using composite transducer is proposed. The transducer includes one exponential horn located on leading end, and the horn insect with the ring at tip end. Two degenerate flexural vibration modes spatially and temporally orthogonal to each other in the ring are excited by the transducer. The working principle of proposed motor is analyzed. The stator is designed with FEM. The two vibration modals of stator are degenerated. Transient analysis is developed to gain the vibration characteristics of stator, and results indicate that the motion trajectories of nodes on the teeth are nearly ellipses. Results also indicate the proposed design enables the motor to operate with large vibration amplitude. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： Stators

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Visual tracking strategy based on fuzzy multi visual cue integration

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2009年第8期43卷 33-37页

作者： Zhang, Guoliang Xie, Zongwu Jiang, Zainan Wang, Jie Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

To improve the adaptability of visual tracking system for various circumstances in space, a visual tracking strategy based on fuzzy multi visual cue integration is proposed, which synthesizes multi visual cue together to represent the features of object. The recognition of object is intelligentized by integration of each fuzzy cue. To deal with the effects of noise on segmentation threshold of moving object, a new region-based segmentation is chosen to realize stable clustering of moving region by integrating population statistics and region growing. Compared with conventional local feature recognition, this strategy is adaptive to complex and dynamic circumstances. Redundant information complements each other for ensuring feature recognition and tracking in uncertain environment. Experimental results demonstrate the robust feature recognition and tracking with this strategy, especially in part occlusion and unstable lighting.

关键词： Population statistics

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Study of digital control system for seismic simulation test rig

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 342-346页

作者： Cong, Dacheng He, Jingfeng Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The digital control system of a seismic simulation test rig was developed for earthquake waveform replication. The control system was implemented by the two-level distributed network which increases the stability, reliability and safety of the system. The three control variables method (displacement velocity and acceleration) broad the frequency range of the test rig. Accurate waveform replication was realized by vibration control technique based on system identification and iterative algorithm. The experimental results show that the correlation coefficient between the response and the reference was greater than 0.9 after two to three times system identification and iterative control.

关键词： Digital control systems

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Path planning method for free-floating space robot in Cartesian space

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Jiqiren/Robot 2009年第2期31卷 187-192页

作者： Zhang, Fu-Hai Fu, Yi-Li Wang, Shu-Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

In order to ensure spacecraft attitude stability for the operational free floating space robot (FFSR), a nonholonomic path planning method with zero-disturbance spacecraft attitude in Cartesian space is presented for the FFSR. Firstly, based on the characteristic equation and angular momentum conservation equation of the FFSR, the generalized Jacobian matrix is obtained. Secondly, in order to meet the need of path planning, the reachable workspace of FFSR with zero-disturbance spacecraft attitude is analyzed. Finally, with the introduction of correlative coefficient, the zero-disturbance vector synthesis algorithm in Cartesian space is designed. Simulation results of path planning show that the manipulator end-effector can reach the desired point and the spacecraft attitude is of zero-disturbance simultaneously. Therefore, the feasibility and validity of the presented method are verified.

关键词： Motion planning

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