检索结果-内蒙古大学图书馆

Interactive rehabilitation exercise control strategy for 5-DOF upper limb rehabilitation arm

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering 2008年第9期44卷 169-176页

作者： Li, Qingling Kong, Minxiu Du, Zhijiang Sun, Lining Wang, Dongyan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China The Second Affiliated Hospital Heilongjiang University of Chinese Medicine Harbin 150040 China

A 5-DOF exoskeletal rehabilitation arm for hemiplegic upper limbs is developed with passive and active interactive exercise control strategy. In passive exercise, surface electromyogram (sEMG) of hemiplegic patients' healthy limbs are extracted to control the arm because they are impaired unilaterally in general. AR model and BP neural network are used to understand the patient's motion intention in order to actuate the arm. Then, it can assist disabled arm to implement preprogrammed motions. In active exercise, the torque of each joint is used to estimate the force caused by limbs' movement in real-time. Terminal velocity is controlled with proportional controller and Jacobian inverse matrix to drive each joint. Test results prove the correctness and effectiveness of the proposed method.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

Modified strategy to inertia weight in PSO for searching threshold of Otsu rule

引用

Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2008年第10期16卷 1907-1912页

作者： Cheng, Wan-Sheng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

In order to searching the best threshold of Otsu rule rapidly, a modified strategy to the inertia weight in Particle Swarm Optimization (PSO) is introduced. The strategy correlates the inertia weight in PSO with the globally best position and the individual best position in particle swarm and modifies the inertial weight by the distance between the best individual position and the globally best position. With the reduction of the distance between the globally best position and the individual best position, the inertia weight of the individual particle will be reduced, vice versa. The experimental results indicate that this algorithm decreases computational work and improves average convergence rate by 21.0726% as compared with that of traditional methods. It can speed up on-line image segmentation using this method.

关键词： Image segmentation

来源：评论

学校读者我要写书评

暂无评论

An Improved Algorithm of Measuring Extravehicular Mobility Unit (EMU) Spacesuit Joint Damping Parameters for the Old Passive Robot system

An Improved Algorithm of Measuring Extravehicular Mobility U...

引用

2008 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2008), vol.1

作者： Jingdong Zhao Yiwei Liu Hegao Cai Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, an improved algorithm to measure China's EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuit's arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics of the EMU spacesuit arm including flexible joints are proposed. And finally, a new algorithm that eliminates the gravity effect is implemented to calculate the damping torques of the EMU spacesuit joints. Experimental results and verification on SGI workstation proved the correctness and effectiveness of the proposed measuring method.

关键词： Joints Robots Damping Torque Robot kinematics Kinematics Manipulators

来源：评论

学校读者我要写书评

暂无评论

Mobility Performance Analysis of Lunar Rover Based on Terramechanics

Mobility Performance Analysis of Lunar Rover Based on Terram...

引用

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 1-476

作者： Peng Zhang Zongquan Deng Ming Hu Haibo Gao State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424948

In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation metrics and indexes of mobility performance are presented, based on which performance comparison of LER-1 and ALR (a new configuration lunar rover) locomotion systems is performed. The method of evaluating mobility performance of lunar rover by simulation is introduced. The analysis results indicate that the new locomotion system configuration ALR has good mobility performance. The study results can apply to the design of planetary exploration rovers for reference.

关键词： mobility performance performance evaluation locomotion system terramechanics lunar rover

来源：评论

学校读者我要写书评

暂无评论

Damping parameters measurement and preisach modeling of extra vehicular activity glove based on exoskeleton mechanism

引用

Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2008年第7期42卷 891-894+899页

作者： Fang, Honggen Shi, Shicai Liu, Hong Li, Tanqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany Institute of Space Medicine and Medical Engineering Beijing 100094 China

By combination of parallelogram link and gear, a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity (EVA) glove in an external way, this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp *** force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping force during flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity, an unified Preisach numerical calculating strategy is presented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the points belonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

关键词： Damping

来源：评论

学校读者我要写书评

暂无评论

A silicon integrated micro positioning xy-stage for nano-manipulation

Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors

引用

Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors 2008年第10期29卷 1932-1938页

作者： Wang, Jiachou Rong, Weibin Sun, Lining Li, Xinxin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 200050 China

An integrated micro positioning xy-stage with a 2 mm × 2 mm-area shuttle is fabricated for application in nanometer-scale operation and nanometric positioning precision. It is mainly composed of a silicon-based xy-stage, electrostatics comb actuator, and a displacement sensor based on a vertical sidewall surface piezoresistor. They are all in a monolithic chip and developed using double-sided bulk-micromachining technology. The high-aspect-ratio comb-driven xy-stage is achieved by deep reactive ion etching (DRIE) in both sides of the wafer. The detecting piezoresistor is located at the vertical sidewall surface of the detecting beam to improve the sensitivity and displacement resolution of the piezoresistive sensors using the DRIE technology combined with the ion implantation technology. The experimental results verify the integrated micro positioning xy-stage design including the micro xy-stage, electrostatics comb actuator, and the vertical side-wall surface piezoresistor technique. The sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV/μm without amplification and the linearity is better than 0.814%. Under 30V driving voltage, a ±10m single-axis displacement is measured without crosstalk and the resonant frequency is measured at 983Hz in air.

关键词： Electrostatics

来源：评论

学校读者我要写书评

暂无评论

Correction method for pixel response nonuniformity of CCD

引用

Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2008年第2期16卷 314-318页

作者： Cheng, Wan-Sheng Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

After analyzing the reasons related to the pixel nonuniformity in details, an algorithm based on least square method is presented to correct the pixel nonuniformity of a CCD. The grey level datum sets of each pixel are acquired on the cases of different irradiances, then a least square method is used to estimate the relation between irradiance and desired grey level data. The correct parameters of each pixel are computed, and the correct matrix is established. Finally, the pixel response uniformity is achieved by using the matrix to correct the grey level data of each pixel. The maximum deviation is 76.5 before correcting, while correcting by the proposed method, the maximum deviation is only 0.00108. The experimental results indicate that the method is effective to correct CCD nonuniformity.

关键词： Charge coupled devices

来源：评论

学校读者我要写书评

暂无评论

Garbage grab bucket controller based on input shaping and PD feedback control

Garbage grab bucket controller based on input shaping and PD...

引用

IEEE International Conference on Automation and Logistics

作者： Shijie Dai Gang Ren Lei Zhao Weiguo Ren State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

ISBN: (纸本)9781424425020

A control strategy that combines input shaping with PD feedback control is presented in this paper. Input shaping was used to cancel the swing of the bucket, and feedback was used to detect and eliminate the position error of the trolley. Simulation of the bucket dynamics was carried on to evaluate the performance of the controller.

关键词： Cranes Pd control Feedback control Vibrations Robustness Switches Driver circuits

来源：评论

学校读者我要写书评

暂无评论

A silicon integrated micro nano-positioning XY-stage for nano-manipulation

引用

Journal of Micromechanics and Microengineering 2008年第12期18卷

作者： Sun, Lining Wang, Jiachou Rong, Weibin Li, Xinxin Bao, Haifei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China

An integrated micro XY-stage with a 2 × 2 mm2 movable table is designed and fabricated for application in nanometer-scale operation and nanometric positioning precision. The device integrates the functions of both actuating and sensing in a monolithic chip and is mainly composed of a silicon-based XY-stage, comb-drive actuator and a displacement sensor, which are developed by using double-sided bulk-micromachining technology. The high-aspect-ratio comb-driven XY-stage is achieved by deep reactive ion etching (DRIE) on both sides of the wafer. The displacement sensor is formed on four vertical sidewall surface piezoresistors with a full Wheatstone bridge circuit, where a novel fabrication process of a vertical sidewall surface piezoresistor is proposed. Comprehensive design and analysis of the comb actuator, the piezoresistive displacement sensor and the XY-stage are given in full detail, and the experimental results verify the design and fabrication of the device. The final realization of the device shows that the sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV νm-1 without amplification, and the linearity is better than 0.814%. Under 28.5 V driving voltage, a 10 νm single-axis displacement is measured without crosstalk and the resonant frequency is measured at 983 Hz in air. © 2008 IOP Publishing Ltd.

关键词： Natural frequencies

来源：评论

学校读者我要写书评

暂无评论

Electrostatically driven microgripper integrated piezoresistive force sensor

Electrostatically driven microgripper integrated piezoresist...

引用

Design, Test, Integration and Packaging of MEMS/MOEMS

作者： Tao Chen Liguo Chen Lining Sun Xinxin Li State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China State Key Lab ofTransducer Technology Shanghai Institute ofMicrosystem and Information Technology Chinese Academy and Sciences Shanghai China

This paper presents the design, fabrication, and application of an electrostatically driven microgripper integrated piezoresistive force sensor. The microgripper is designed to manipulate two microobjects at the same time with force sensing ability. Surface and bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The end effector of the gripper is a four arms structure, two fixed cantilever beams integrated with piezoresistive sensor are designed to sensing the gripping force, and an electrostatically driven microactuator is designed to provide the force to operate the other two movable arms. In this way, the four fingers structure enables the gripper to grasp two samples with different sizes at the same time. Experimental results show that it can successfully provide force sensing and play a main role in preventing damage of microparts in micromanipulation and microassembly tasks.

关键词： Grippers Piezoresistance Force sensors Arm Fabrication Micromachining Silicon End effectors Structural beams Microactuators

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：