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"Oh, the Places You'll Go" (as CSS President)!

IEEE CONTROL systemS MAGAZINE 2016年第6期36卷 9-14页

作者： Doyle, Francis J., III State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China University of Patras Rio-Patras Greece

Presents the President's message for this issue of the publication.

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Topology Optimization Design of 6-DOF Lower Extremity Exoskeleton Leg for Load Carrying

Topology Optimization Design of 6-DOF Lower Extremity Exoske...

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2016 IEEE Advanced Information Management,Communicates,Electronic and Automation Control Conference(IMCEC 2016)

作者： Shun Ma Jinhui Yao Xiaolong Wei Yanhe Zhu Harbin Institute of Technology State Key Laboratory of Robotics and System Fire Brigade in Haidian District

ISBN: (纸本)9781509001668

This paper introduces a novel and light weight lower extremity exoskeleton,used for carrying heavy load in the individual soldier combat *** exoskeleton has six degree of freedom per leg,only one of which is powered by the *** order to provide a reference for the exoskeleton mechanical structure and drive unit,the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic *** the safety and comfort for the wearers,a gravity balanced system has been designed in the hip joint to supply power for *** critical hardware arrangement aspects and control system are summarized.

关键词： Lower extremity exoskeleton Mechanism topology Simulation Optimization Gravity balanced system

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Image-based visual tracking of a moving target for a quadrotor

Image-based visual tracking of a moving target for a quadrot...

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Asian Control Conference

作者： Dongliang Zheng Hesheng Wang Weidong Chen Department of Automation Ministry of Education of China Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509015740;9781509015733

In this paper, the control problem of a quadrotor tracking a moving target is investigated. The method is based on image-based visual servoing (IBVS) scheme. The target is assumed to be moving with unknown, time varying and bounded linear velocity, linear acceleration, and angular velocity and acceleration of the yaw angle. First, appropriate moment features defined in a rotated image plane are chosen as image features, and a decoupled image feature dynamics is achieved. Then, using these features, a nonlinear controller is proposed for the quadrotor to track a moving target. The controller is proved uniformly ultimately bounded (UUB) by means of Lyapunov analysis. With this image-based control formulization, several state variables are not needed by the controller. These variables are: the depths of the point features which are usually needed in traditional IBVS schemes, the relative position between the quadrotor and the moving target, the velocity of the moving target, and the translational velocity of the quadrotor itself. Finally, several simulations of a quadrotor tracking a moving target are conducted to validate this method.

关键词： Cameras Visualization Target tracking Visual servoing Task analysis Stability analysis

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Suppression of mechanical resonance in digital servo system considering oscillation frequency deviation

Suppression of mechanical resonance in digital servo system ...

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Annual Conference of Industrial Electronics Society

作者： Yangyang Chen Ming Yang Kun Hu Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

High-stiffness servo system is easy to cause mechanical resonance in elastic coupling servo system. Although on-line adaptive notch filter is effective in most cases, it will lead to a severer resonance when resonance frequency deviated from the natural torsional frequency. To explain this phenomenon, an improved discrete system model is proposed. This paper quantitatively analyzes the influence of damping, discretization and current loop time constant on mechanical oscillation frequency. A conclusion is drawn that the most effective notch frequency is the natural torsional frequency when resonant frequency is deviate. Simulation and experimental results verify the accuracy and effectiveness of the theoretical analysis.

关键词： Notch filters Continuous time systems Damping

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M/T method based incremental encoder velocity measurement error analysis and self-adaptive error elimination algorithm

M/T method based incremental encoder velocity measurement er...

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Annual Conference of Industrial Electronics Society

作者： Yangyang Chen Ming Yang Jiang Long Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

For motor control applications, the speed loop performance is largely depended on the accuracy of speed feedback signal. M/T method, due to its high theoretical accuracy, is the most widely used in incremental encoder adopted speed measurement. However, the inherent encoder optical grating error and A/D conversion error make it hard to achieve theoretical speed measurement accuracy. In this paper, hardware caused speed measurement errors are analyzed and modeled in detail; a Single-Phase Self-adaptive M/T method is proposed to ideally suppress speed measurement error. In the end, simulation and experiment show the advantages and verify the validity of the proposed method.

关键词： TV Frequency measurement Velocity measurement Hardware Adaptive optics Optical variables measurement Gratings

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A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture

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Science China(Technological Sciences) 2016年第11期59卷 1621-1638页

作者： FENG Fei TANG LiNa XU JianFeng LIU Hong LIU YiWe State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology (HUST) Wuhan 430074 China Shanghai Aerospace Equipments Manufacturer Shanghai 200245 China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150080 China

The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing operation includes capturing of cooperative target and capturing of uncooperative target. The performances of the famous large space manipulators named space shuttle remote manipulator system(SRMS), the space station remote manipulator system(SSRMS) and the Europe robotic arm(ERA) are reviewed and studied respectively. Moreover, the space manipulators being developed by China for space station is also surveyed. Based on the performance analysis of the large space manipulators and end-effectors, which are adapted to the construction and daily maintenance for the large space structure such as the space station, the basic requirements of large misalignment tolerance capability, soft capturing capability and hard docking capability for the end-effector of large space manipulator are proposed in this paper. According to these requirements, the capture mechanism and methods that can enable the end-effector to have the capability of misalignment tolerance and soft capturing are presented. The development trend and key technologies of the large space manipulators and the end-effectors are also reviewed.

关键词： space station large space manipulator end-effector large misalignment tolerance soft capture on-orbit capturing

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Soft Robots: Fast‐Response, Stiffness‐Tunable Soft Actuator by Hybrid Multimaterial 3D Printing (Adv. Funct. Mater. 15/2019)

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Advanced Functional Materials 2019年第15期29卷

作者： Yuan‐Fang Zhang Ningbin Zhang Hardik Hingorani Ningyuan Ding Dong Wang Chao Yuan Biao Zhang Guoying Gu Qi Ge Digital Manufacturing and Design Centre Singapore University of Technology and Design Singapore 487372 Singapore Soft Robotics and Biodesign Lab Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Science and Math Cluster Singapore University of Technology and Design Singapore 487372 Singapore

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Preoperative planning for the multi-arm surgical robot using PSO-GP-based performance optimization

Preoperative planning for the multi-arm surgical robot using...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Fan Zhang Zhiyuan Yan Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Electrical and Electronic Engineering Imperial College London United Kingdom

For the robotically-assisted minimally invasive surgery, preoperative planning is essential towards assisting surgeons to prepare the intervention and to decide the best access to the surgical site. Many recent studies in preoperative planning have focused on the pose selection of the robot and the port placement. However, as such techniques cannot evaluate the performance of the multi-arm cooperation, their applications are constrained in real practise with multi-arm surgical robots. In this paper, the surgical workspace is divided and the subspaces are assigned with different weights to reflect the internal differences within the surgical workspace. We propose three metrics to evaluate the performance of the multi-arm surgical robot: Global Isotropy Index (GII) to measure the dexterity of one single robot arm; Cooperation Capability Index (CCI) to reflect the performance of the multi-arm cooperation; Minimum Distance Index (MDI) to describe the collision avoidance of the robotic arms. We also propose a combination of Particle Swarm Optimization (PSO) and Gaussian Process (GP) to locate the port placement and robot positioning. The proposed integrated PSO-GP-based optimization strategy is implemented on a three-arm surgical robot. Two sets of experiments are carried out to validate our method. The results demonstrate that the performance optimization strategy based on PSO-GP is capable of guiding surgeons to plan an intervention with the multi-arm surgical robot.

关键词： Manipulators Medical robotics Surgery Collision avoidance Indexes Instruments

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Investigation of near-field heat transfer of multilayered structures in heat-assisted magnetic recording (HAMR)

Investigation of near-field heat transfer of multilayered st...

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2016 Asia-Pacific Magnetic Recording Conference, APMRC 2016

作者： Zhao, Yu Li, Longqiu Zhang, Hongtao Shao, Guanbin Liu, Qingkang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781509021246

Heat-assisted magnetic recording (HAMR) is a promising method to increase the area density to 1 Tb/in2 in hard disk drives. In HAMR, a pulsed laser is used to heat the magnetic medium above its Curie temperature. High temperatures can cause lubricant depletion, degradation, and carbon overcoat damage at the head disk interface. Near-field radiation effects in HAMR are important to contribute the heat transfer and hence the flying ability at the head disk interface. Therefore investigation of the near-field heat transfer is essential to optimize the head disk interface. An equivalent simulation model of the head disk interface for studying the radiative heat transfer is provided in this paper. The head can be simplified as a nanosphere, while the disk can be simplified to a semi-infinite multilayer structure, the thickness of every layer in the multilayer structure is nano-scale. And the distance between head and disk is smaller than 10nm. The near field heat transfer problem can be solved by combining the dyadic Green's functions with the fluctuations electrodynamics, and the scattering matrix approach is used in the multilayer structure. Considering both the nonmagnetic media and the magnetic media, several numerical computations are conducted. © 2016 IEEE.

关键词： Heat transfer

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A three-chambed soft actuator module with omnidirectional bending motion

A three-chambed soft actuator module with omnidirectional be...

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2016 IEEE International Conference on Real-Time Computing and robotics, RCAR 2016

作者： Yan, Jihong Dong, Hongbing Zhang, Xinbin Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781467389594

Unlike traditional rigid robots, soft robots can deform in a wide range to suit environment and contact compliantly with operating objects. Therefore, soft robots have wide potential application prospects in terms of physical rehabilitation, minimally invasive surgery and other fields. This paper presents the concept design and fabrication of a three-chambed soft actuator module with omnidirectional bending capability. The effect of geometrical parameters on the module bending properties was investigated by using finite element methods (FEM). Preliminary tests as proof of concept and assessment of performances were implemented, indicating that the module has good deformation capacity and can be used to assemble soft multi fingers hand, soft manipulators and other soft robotic systems. © 2016 IEEE.

关键词： Finite element method

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