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第28届中国控制与决策会议

作者： Ke Wang Hong Liu Bensheng Guo Yunfeng Gao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467397155

Tracking and operating non-cooperative targets at close range are key problems in the field of intelligent space *** this paper,three non-cooperative target tracking methods including EKF method,SEKF method and Inf-EKF method are *** addition,efficiency,filtering performance and tracking accuracy of three tracking methods are researched by *** results show that compared with EKF method,SEKF method and Inf-EKF method reduce the calculation and improve the ***,by comparing filtering performance under different noise levels,it is found SEKF method doesn't show rapid convergence rate but has good anti-noise *** through tracking trajectories of feature points,it proves that SEKF method can track targets reliably despite high-level noise.

关键词： non-cooperative target tracking method EKF SEKF Inf-EKF

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Janus Microspheres: Janus Microdimer Surface Walkers Propelled by Oscillating Magnetic Fields (Adv. Funct. Mater. 25/2018)

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Advanced Functional Materials 2018年第25期28卷

作者： Tianlong Li Anning Zhang Guangbin Shao Mengshi Wei Bin Guo Guangyu Zhang Longqiu Li Wei Wang Key Lab for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Materials Science and Engineering Harbin Institute of Technology (Shenzhen) Shenzhen Guangdong 518055 China

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Optimal-Switched H∞Robust Tracking for Maneuvering Space Target

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IFAC-PapersOnLine 2016年第17期49卷 415-419页

作者： Li, Yuankai Zhang, Shuang Ding, Liang Shi, Zhiguo School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu611731 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing100083 China

For maneuvering target tracking problem, robust filtering is an effective way to gain fast and accurate target trajectory in real time. The H∞filter (H∞F) is a conservative solution with infinite-horizon robustness, leading to excessive cost of filtering optimality and reduction of estimation precision. In order to retrieve the filtering optimality sacrificed by conservativeness of the H∞F design, in this paper, an optimal-switched filtering mechanism is developed and established on the standard H∞F to propose an optimal-switched H∞filter (OSH∞F). The optimal-switched mechanism adopts a switched structure that switches filtering mode between optimal and H∞robust by setting a switching threshold, and introduces an optimality-robustness cost function (ORCF) to on-line optimize the threshold such that the switching structure can be optimized. In the ORCF, a non-dimensional weight factor (WF) is used to quantify the ratio of the filtering robustness and optimality. As the only tunable parameter in the filter, when the WF is given, the proposed OSH∞F can obtain the optimal state estimates with filtering optimality and robustness kept at the WF-determined ratio. With the conservativeness of the H∞F optimized, the developed OSH∞F can be used as a generalized H∞F form. A simulation example of space target tracking has demonstrated the superior estimation performance of the OSH∞F compared with that of Kalman filter and other typical H∞filters. © 2016

关键词： Target tracking Clutter (information theory) Cost functions Kalman filters Switched filters Estimation performance Estimation precision Filtering mechanism Maneuvering target tracking Non dimensional weight Robust estimation Switching structures Switching thresholds

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Design of Robust Controller for Flexible Joint Robot with Nonlinear Friction Characteristics

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Journal of Donghua University(English Edition) 2015年第5期32卷 737-742页

作者：陈健葛连正李瑞峰 State Key Laboratory of Robotics and System Harbin Institute of Technology

A robust controller method for flexible joint robot considering the effect caused by nonlinear friction was *** nonlinear friction was denoted as inverse additive output uncertainty relative to the nominal model in our work,based on which the describing function was analyzed in frequency domain,and the weighting function of nonlinear friction was further calculated as well. By combining the friction uncertainty,the mixed sensitivity H∞optimization was proposed as the benchmark for controller design, which also leaded to good performance of robustness. Furthermore,unstructured perturbation to the system was analyzed so that the stability was guaranteed. Simulation results show that the proposed controller can provide excellent tracking and regulation performance.

关键词： robot joints with flexibility nonlinear friction describing function method robust control

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Development of two rescue robots for disaster relief operations in narrow debris

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High Technology Letters 2015年第4期21卷 399-406页

作者：臧希喆 Wang Jibin Liu Yixiang State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and narrow spaces,where a rescue team can not work or ***,a multilinked tracked rescue robot platform composed of connected crawler vehicles is developed,which has high mobility on irregular terrain and ability to move into narrow collapsed ***,the cutter robot and jack robot are designed on the basis of rescue robot platform equipped with a cutter or a jack mechanism and corresponding manipulators in the front *** cutter refitted by an angle grinder is able to cut through 10 mm diameter steel *** electric jack mechanism designed based on multiple layers screw sleeves structure can lift up 300 kg load from 70 mm to 400 *** results validate the capability of the two rescue robots.

关键词： rescue robot connected crawler vehicles cutter robot jack robot

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Dynamic modeling and analysis of pseudo-elastic flexure hinges

Dynamic modeling and analysis of pseudo-elastic flexure hing...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Junxian Lin Wei Dong Miao Yang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509029464

The main goal of this paper is to establish a dynamic model for pseudo-elastic flexure hinges that are made of shape memory alloys. Based on the co-rotational framework, the nonlinear dynamic formulation of the pseudo-elastic flexure hinges is presented, which considers the continuous variation of the cross section, the material nonlinearity and the geometrical nonlinearity. In order to simplify the calculation process and guarantee the convergence, a piecewise linear model based on Brinson's constitutive law is developed to establish the constitutive relation of shape memory alloys. Newton-Raphson method combined with the Newmark time integration method is employed to solve the highly nonlinear motion equations. Finally, the dynamic behavior of an elliptical flexure hinge subjected to an impulse load is analyzed. Numerical results compared with finite element analysis by ABAQUS show that the proposed approach can predict the dynamic response of the flexure hinges precisely and the hysteretic energy-dissipation phenomenon is also observed.

关键词： Mathematical model Fasteners Stress Strain Computational modeling Force Load modeling

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Environment feature recognition algorithm for rescue robot based on a 2D laser radar

Environment feature recognition algorithm for rescue robot b...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

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

ISBN: (纸本)9781467389600

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.

关键词： Laser radar Rescue robots Measurement by laser beam Two dimensional displays Feature extraction

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A method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis

A method of structure optimization for high-speed and heavy-...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Le Liang Yanjie Liu Haijun Han Mingyue Wu Qingwu Ma State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509020669

In this paper, a method of structure optimization for high-speed and heavy-load robot based on dynamic characteristic analysis is presented. Firstly, the flexible coupling dynamics model of the robot is established and modal analysis is carried out. Then the concept of relative sensitivity is presented, by which the optimization variables are determined. According to the operating characteristics of the robot, such as palletizing cycles per hour, terminal repeat positioning accuracy and rated load, the optimization indicators can be proposed, which are the lowest natural frequency, the maximum acceleration and static stiffness, speed integrated characteristics. Combined with work space constraint, a multi-objective optimization model is established, which is solved by NSGA-II genetic algorithm. Finally the optimized results are analyzed and compared, which can prove the validity of the method.

关键词： Robots Optimization Mathematical model Torque Sensitivity Analytical models Vehicle dynamics

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Research on bionic quadruped robot based on hydraulic driver

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High Technology Letters 2015年第1期21卷 8-14页

作者：李满天 Jiang Zhenyu Guo Wei Sun Lining State Key Laboratory of Robotics and System Harbin Institute of Technology

A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high load carrying ability. The current version is 1. lm long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one pas- sive translational joint with spring. The torso carries the control system and the power system. A no- vel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the prin- ciple of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and l km/h on the level-ground and 10°sloped-terrain respectively, but also au- tomatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms.

关键词： legged robots locomotion control quadruped robot trotting gait hydraulic actuation

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Guideline and design of a six-dimensional constraint gripper

Guideline and design of a six-dimensional constraint gripper

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IEEE International Conference on Mechatronics and Automation

作者： Hong Liu Jun Wu Shaowei Fan Zhiqi Li Minghe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

This paper presents the guideline and mechanical design of a six-dimensional constraint gripper. A state vector is firstly defined to represent the position/orientation misalignment. After analysising three basic geometric constraint methods from the point of caging and immobilizing, we propose a reliable six-dimensional constraint gripper design guideline. The mechanical design is conducted with the guideline, consisting of four elementary constraint components. They constrain the relative mobility step by step. At last, simulation results verify that the gripper can effectively constrain the six-dimensional mobility gradually.

关键词： Grippers Grasping Fingers Guidelines Design methodology Service robots

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