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International Conference on Mechanical, Automotive and Materials Engineering (CMAME)

作者： Man Wang Dacheng Cong Zhidong Yang Changhong Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

Adaptive inverse control (AIC) is an advanced control technology which can efficiently learn and control the severely nonlinear and real-time plant, such as the electrohydraulic shaking table (EST). The foundation of AIC is the system identification of the plant via an adaptive filer. The traditional adaptive filter theory is known as a fixed tap-length (length of the weight vector) FIR (Finite impulse response) filter whose weights change by adaptive algorithm automatically. The mismatch between plant and the fixed tap-length will cause inaccuracy or compute complexity. This paper introduce a variable tap-length NLMS (VTLNLMS) algorithm to find the optimum tap-length (OPTL) of the model of multi-DOF EST, then use AIC to improve the accuracy of time wave replication. The dynamics response nonlinear model of the EST is built to reflect the experimental situation. The nonlinear EST model and referred algorithm are simulated in MATLAB/Simulink. Results show the AIC with OPTL is effective in the EST.

关键词： Mathematical model Actuators Adaptive filters Valves system identification Adaptive systems

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system Identification in Adaptive Inverse Control for Electrohydraulic Shaking Table Using Variable Tap-length NLMS Algorithm

System Identification in Adaptive Inverse Control for Electr...

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2017 5th International Conference on Mechanical, Automotive and Materials Engineering（CMAME 2017）

作者： Man Wang Dacheng Cong Zhidong Yang Changhong Gao State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology

Adaptive inverse control（AIC） is an advanced control technology which can efficiently learn and control the severely nonlinear and real-time plant,such as the electrohydraulic shaking table（EST）.The foundation of AIC is the system identification of the plant via an adaptive *** traditional adaptive filter theory is known as a fixed tap-length（length of the weight vector） FIR（Finite impulse response） filter whose weights change by adaptive algorithm *** mismatch between plant and the fixed taplength will cause inaccuracy or compute *** paper introduce a variable tap-length NLMS（VTLNLMS） algorithm to find the optimum tap-length（OPTL） of the model of multi-DOF EST,then use AIC to improve the accuracy of time wave *** dynamics response nonlinear model of the EST is built to reflect the experimental *** nonlinear EST model and referred algorithm are simulated in MATLAB/*** show the AIC with OPTL is effective in the EST.

关键词： Adapative Inverse Control Electrohydraulic Shaking Table Variable Tap-length Nl MS Nonliner system system Identification

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Linear-hall sensor based force detecting unit for lower limb exoskeleton

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AIP Conference Proceedings 2018年第1期1955卷

作者： Hongwu Li Yanhe Zhu Jie Zhao Tianshuo Wang Zongwei Zhang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang China

This paper describes a knee-joint human-machine interaction force sensor for lower-limb force-assistance exoskeleton. The structure is designed based on hall sensor and series elastic actuator (SEA) structure. The work we have done includes the structure design, the parameter determination and dynamic simulation. By converting the force signal into macro displacement and output voltage, we completed the measurement of man-machine interaction force. And it is proved by experiments that the design is simple, stable and low-cost.

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Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

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IOP Conference Series: Materials Science and Engineering 2018年第1期320卷

作者： Z X Yang W L Yang Z J Du State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

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Design of Control system for Vibration Isolation Platform Based on Parallel Mechanism

Design of Control System for Vibration Isolation Platform Ba...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Shuai Wang Ruochen Niu Bing Li Hailin Huang Shenzhen Graduate School Harbin Institute of Technology State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781538604915

An active passive vibration isolation platform (VIP) based on 4PUS-PS~* parallel mechanism was proposed. The movement characteristics of the mechanism and the hardware design of control system were discussed. Considering the application background, we developed the software of control system. The whole control strategy applied the architecture of "IPC+EtherCAT". First of all, the whole distribution scheme was proposed and the system's deliver approach of the data was analyzed. Then, the hardware of the control system was built. Based on the five-layer architecture of the software which was carried out in the whole control plan, the presentation layer achieved human-computer interaction;the control system realized the whole process control and determined the control strategy of the system;the model layer conducted function encapsulation and function integration of the hardware;communication layer managed communication mode and information routing;the hardware layer completed its hardware configuration management and diagnosis. Also, the key control strategy and the key functional modules of the control system were analyzed in this layer. Finally, the movement control and vibration isolation test were conducted.

关键词： control systems control strategy vibration damping platform hardware layer communication modes computer hardware design computer software configuration management

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Dual-SLIP Model Based Galloping Gait Control for Quadruped Robot: A Task-Space Formulation

Dual-SLIP Model Based Galloping Gait Control for Quadruped R...

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American Control Conference

作者： Haitao Yu Haibo Gao Zeyang Fan Zongquan Deng Lixian Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology School of Astronautics Harbin Institute of Technology

ISBN: (纸本)9781509045839

This paper presents a novel locomotion control framework that achieves stable galloping gait for a torque-controlled quadruped robot. By analytically exploiting the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model, a two-layered Dual-SLIP model based Task-space Formulation (DS-TSF) is developed to control the 12-DoF quadruped robot with an active spine. On the higher layer, a dead-beat controller based on the derived Approximate Apex Return Map (AARM) with guaranteed high prediction accuracy is devised to provide desired apex state. This reference SLIP-like behavior serves as the target Center of Mass (CoM) trajectories of the fore- and hind-body of the quadruped robot. On the lower layer, a prioritized multi-task controller is further developed to enforce the dual-CoMs of the fore- and hind-body to behave following the target dynamics of two uncoupled SLIP hoppers on sagittal plane. The compatible motion control of the active spinal joint is fulfilled on the null-space of the prior task without generating confliction. The simulation results have demonstrated the effectiveness of the proposed locomotion control method.

关键词： quadruped robot Galloping Gait control Motor Control Locomotion

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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Mingyang Sui Chuncheng Mao Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 CHINA 954479126@*** ***@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers’ output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator’s structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers’ output and the reflector) on the transportation trajectory.

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Microfluidic Vortices: On-Chip Rotation ofCaenorhabditis elegansUsing Microfluidic Vortices (Adv. Mater. Technol. 1/2021)

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Advanced Materials Technologies 2021年第1期6卷

作者： Peng Pan John D. Laver Zhen Qin Yuxiao Zhou Ran Peng Lijun Zhao Hui Xie John A. Calarco Xinyu Liu Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Road Toronto Ontario M5S 3G8 Canada Department of Mechanical Engineering McGill University 817 Sherbrooke Street West Montreal Quebec H3A 0C3 Canada Department of Cell & Systems Biology University of Toronto 25 Harbord St Toronto Ontario M5S 3G5 Canada State Key Laboratory of Robotics and System Harbin Institute of Technology 2 Yikuang Street Harbin 150001 China Institute of Biomedical Engineering University of Toronto 164 College Street Toronto Ontario M5S 3G9 Canada

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COMSOL-based simulations and experiments on the classifying trajectory of the mixed particles levitated in standing wave field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Fanbin Meng Bin Lan Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 CHINA mengfanbin96@*** ***@*** mu-guanyu@*** jzhao@***

In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively.

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Deploying dynamics experiment of tape-spring hinges for deployable mechanism 32

Deploying dynamics experiment of tape-spring hinges for depl...

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32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017

作者： Hui, Yang Ruipeng, Zhang Zhanwen, Fan Yan, Wang Rongqiang, Liu College of Electrical Engineering and Automation Anhui University Hefei230601 China China Electronics Technology Group Corporation No.38 Research Hefei230088 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538629017

Flexible tape-spring hinges can be folded elastically and are able to self-deploy by releasing stored strain energy with fewer component parts and slight weights. Deploying dynamic experimental setup is designed and constructed to analyze the dynamic behaviors. A Phantom V12.1 high-speed camera was applied to record the deployment of the tape-spring hinge. Deployment dynamics behaviors of opposite-sense and equal-sense bending for single tape-spring (STS) hinge, single-layer tape-spring (SLTS) hinge, equal and non-equal thickness double-layer tape-spring (DLTS) hinge were investigated by experiments. © 2017 IEEE.

关键词： Strain energy

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