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

作者： Zang, Xizhe Zhang, Can Liu, Yixiang Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781467389594

It is very important for mobile robot to recognize the surrounding 3D environment in a unknown workspace. This paper proposes a 2D laser radar based 3D environment feature recognition algorithm which is applied to a novel rescue robot with wireless control system. It is used to help rescue robot to avoid obstacles in complex unstructured environment. Firstly, a multi-linked tracked robot platform and the features of control system are introduced. Reliable structure and control system ensure the stability of robot. Then the algorithm of 2D laser radar based 3D environment feature recognition is introduced. It makes a good use of the advantage of the laser radar, and this algorithm can effectively identify the area where there is no obstacle by a simple and fast way. Finally, the communication performance of the control system and the stability and accuracy of this feature recognition algorithm is verified by experiment. © 2016 IEEE.

关键词： Optical radar

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Neural Adaptive Tracking Control via Chained Transform for Wheeled Mobile Robot 35

Neural Adaptive Tracking Control via Chained Transform for W...

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第35届中国控制会议

作者： SONG Xingguo GAO Hongli GAO Haibo Ding Liang Mechanical Engineering school Southwest Jiaotong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781509009107

In this paper,an adaptive stable control method is proposed for the trajectory tracking of nonholonomic wheeled mobile robots with *** control method is designed at the dynamical *** kinematic constraints of the mobile robot are transformed into the chained equations,and the desired trajectory is assumed to meet the nonholonomic *** adaptive control law is presented for the globally tracking purpose,and the stability of the control system is guaranteed by the standard Lyapunov *** particular,a radial basis function(RBF) neural network is applied to adaptively approximate the uncertain function within the dynamics *** weights of RBF neural network can be training,which is used to minimizing the tracking errors and guarantee the global *** superior simulation results demonstrate that the proposed control method can achieve the trajectory tracking accurately.

关键词： Nonholonomic constraints wheeled mobile robots chained transform neural networks Lyapunov theorem

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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition 6

Experiments and simulations of the standing wave acoustic fi...

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2017 ICU Honolulu: 6th International Congress on Ultrasonics

作者： Dong, Huijuan Jia, Longfei Guan, Yingzi Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang150001 China Chongqing Vocational College of Transportation Chongqing China School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang150001 China

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers' output are assembled face to face at a certain angle. Each transducer's output acts as both its radiator and another transducer's reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated. © 2018 Acoustical Society of America.

关键词： Acoustic fields

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The performance of a piezoelectric micro-pump for 3D additive manufacturing

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IOP Conference Series: Materials Science and Engineering 2018年第1期409卷

作者： Kai Li Jun-kao Liu Wei-shan Chen Lu Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Dongan Engine Corporation LTD Aero Engine Corporation of China Harbin China

The piezoelectric micro-pump is one kind of electronic device which can achieve supplying fluid on demand, and the total volume of fluid per time is at μL level. For fluid, such as fluid base on Cyanoacrylate, with low dynamic viscosity and can be solidified easily, the micro-pump is effectively to be used for 3D additive manufacturing. In this paper, we show a valve less piezoelectric micro-pump with the advantages of simple structure and stable performance. And we analyze the performance of the piezoelectric micro-pump which can be used for 3D additive manufacturing. A fluid solid coupling method is proposed for simulating the working progress of the piezoelectric micro-pump. The fluid transmission performance of the piezoelectric is mainly analyzed, such as the mass flow, flow rate of the outlet and the internal pressure distribution. The working principle of the piezoelectric micro-pump is discussed as well.

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Correction to: Fabrication of high-strength polyoxymethylene fibers by gel spinning

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Journal of Materials Science 2018年第18期53卷 13316-13316页

作者： Xudong Fang Tom Wyatt Jing Shi Donggang Yao School of Mechanical Engineering Xi’an Jiaotong University Xi’an China School of Materials Science and Engineering Georgia Institute of Technology Atlanta USA State Key Laboratory for Manufacturing Systems Engineering Xi’an China State Key Laboratory of Robotics and System (HIT) Harbin China

In the original article, the name of author Donggang Yao was misspelled. It is correct here.

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Building and analyzing of an active robot-assisted surgical navigation for cervical vertebra bone grinding in spine surgery

Advances in Modelling and Analysis C

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Advances in Modelling and Analysis C 2017年第1期72卷 25-47页

作者： Tian, Heqiang Ma, Longxin Dang, Xiaoqing Zhang, Jinfeng Ma, Junlin Mechanical and Electronic Engineering College Shandong University of Science and Technology Qingdao266590 China Qingdao Municipal Hospital Qingdao266073 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Surgical navigation has emerged as a potential solution to improve accuracy and security of intraoperative surgery. This paper introduces surgical navigation technologies into cervical vertebra bone grinding in spine surgery to guide a bone-grinding robot. Firstly, an active robot-assisted surgical navigation system based on optical positioning for cervical vertebra bone grinding is created, and the space registration coordinate system among "image-patient-robot" is also established. Secondly, space registration among "image-patient-robot" is studied. Here, intraoperative registration between image and patient is achieved by ICP improved algorithm based on coordinate system direction fitting, and space transformation between patient and robot is established by using an optical locator based on planimetric method. At last, the navigating and positioning precision of robot-assisted spine surgery is analyzed by performing positioning and tracking experiments and the influencing factors for surgical navigation errors are also analyzed. The experiment results show that the active surgical navigation system can achieve positioning and tracking of bone-grinding robot feasibly and rationally. © 2018 AMSE Press. All rights reserved.

关键词： Robots

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Type Synthesis of fully-Decoupled 2T2R Parallel Mechanisms Based on Driven - Chain Principle

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Journal of Harbin Institute of Technology(New Series) 2016年第5期23卷 45-52页

作者： Yi Cao School of Mechanical Engineering Jiangnan University Wuxi Jiangsu 214122 China State Key Laboratory of Robotics and System Harbin 150080 China State Key Laboratory of Mechanical System and Vibration Shanghai 200240 China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology Wuxi Jiangsu 214122 China

Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled two-translational(2T) and two-rotational(2R) parallel mechanism is proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel ***,according to the desired kinematic characteristics of fully-decoupled parallel mechanisms,a method is proposed by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian ***,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg are established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements are ***,the desired fully-decoupled parallel mechanisms can be synthesized by using the structural synthesis rule and structural synthesis of fullydecoupled 2T2R parallel mechanisms can be obtained exploiting the abovementioned *** particular,the direct Jacobian matrix of each synthesized fully-decoupled 2T2R parallel mechanism is a non-zero diagonal matrix throughout the entire *** are mounted on each leg and each one of them actuates one degree-of-freedom(Do F) of the fully-decoupled parallel mechanism through a one-to-one velocity relation.

关键词： type synthesis fully-decoupled parallel mechanisms driven-chanin principle screw theory

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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On the development of intrinsically-actuated, multisensory dexterous robotic hands

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ROBOMECH Journal 2016年第1期3卷 1-9页

作者： Liu, Hong Yang, Dapeng Fan, Shaowei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Science Park No.2 Yikuang Street Nangang District P.O. Box 3039 Harbin150080 China

Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands. We make a concentration on a type of intrinsically-actuated robot hands, wherein the driving, transmission, and control elements are totally embedded in the hand. According to different application scenarios, we develop robot hands in two parallel lines, dexterous robotic hand and anthropomorphic prosthetic hand. In both, the hand’s actuation, sensing, and control subsystems are highly integrated and modularized. This feature endows our robot hands with compact appearances, simple integration, and large flexibilities. At last, we give some perspectives on the future development of dexterous hands from the aspects of structure, functionality, and control strategies. © 2016, Liu et al.

关键词： Robotic arms

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and Control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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