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作者： Ma, Li Rong, Weibin Ouyang, Hangkong He, Zhengfeng Sun, Lining Department of Precise Mechanical Engineering School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A new 3-DOF pose precision measurement system based on linear variable differential transformer (LVDT) is developed, built and tested. The system is mainly composed of four LVDTs of symmetrical distribution, which is used to detect the pose relations between a spherical mirror and a resonantor in an optical assembly process. Motion pose of the spherical mirror controlled by an optical assembly robot is formulated according to their geometrical relationship. A LVDT processing circuit using integrated signal conditioning chip AD598 is designed as the control system of pose measurement. Calibration experiments illustrate that the LVDT possesses well static and dynamic characteristics. A PID algorithm is used to improve the adjusting efficiency. Experimental results show that the pose measurement system with maximum angle error of 10" and maximum distance error of 0.5 μm can complete pose adjustment between the spherical mirror and the resonator in 25 seconds, which demonstrate the effectiveness of the proposed method for pose measurement. Copyright © 2011 American Scientific Publishers All rights reserved.

关键词： Mirrors

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Improvement of Microchannel Geometry Subject to Lateral Dielectrophoresis Using Numerical Simulations

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Procedia Engineering 2011年 15卷 336-340页

作者： L.N. Sun D.L. Liu L.G. Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

Continuous particles separation device by lateral dielectrophoretic force shows a favorable promise for multiple cell population separation and purification. This paper addresses the effects of micro-channel geometry shape on the electric field distribution and the distribution of the gradient of electric field square which has a direct influence on the magnitude of the dielectrophoretic force. Before this was done, the influence of aspect ratio of micro-channel geometry was investigated first. Numerical method was adopted in this paper to study the electric field distribution and the gradient of the electric field square distribution. Results show that micro-channel geometry shape and its aspect ratio have great influence on the electric field distribution and dielectrophoresis distribution. As a result, this paper proposes novel micro-channel geometry to improve electric field distribution, further more for a better dielectrophoresis separation. The improved micro-channel can generate stronger electric field strength and larger dielectrophoretic force.

关键词： Dielectrophoresis Finite element Continuous separation Multiple cell populations separation

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Hybrid Map-based Navigation for Intelligent Wheelchair

Hybrid Map-based Navigation for Intelligent Wheelchair

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yong Wang Weidong Chen Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and In State Key Laboratory of Robotics and System (HIT) Harbin 150001 China

ISBN: (纸本)9781612843865

A navigation system based on hybrid map for intelligent wheelchair is presented. The system is consisted of hybrid map building, localization, path planning and trajectory following. The hybrid map includes a series of small probabilistic grid maps (PGM) and a global topological map (GTM). They are built simultaneously and easily using the human-guided method. Then on the hybrid map, the localization and the real-time path planning algorithms are realized smartly and effectively. The experiments and applications results show that the human-guided method integrates both the computer’s modeling ability and the human’s sensory perception to the environment. The hybrid map is easy to solve the loop-closure and doorway problems that enhances the robustness against uncertainty of sensors. It also can improve the efficiency in large-scale SLAM. Further more, at an elderly home we did the activities of daily living (ADL) testing and at Shanghai Expo 2010 we demonstrated the wheelchair system by offering trial rides to visitors.

关键词： Navigation Wheelchairs Trajectory Buildings Real time systems Senior citizens

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Particle focusing and separation through lab-on-chip device by dielectrophoresis

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Open Mechanical Engineering Journal 2011年第1期5卷 56-61页

作者： Liu, Deli Song, Baoyu Chen, Liguo Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

A Lab-On-Chip micro-device has been introduced for the focusing and separation of particles which exploits negative dielectrophoretic (nDEP) force. A 3D numerical computational model was presented to simulate the focusing and separation process. In particular, the model will solve for bioparticle movement and Joule heating. In the experimental study, the mixture of viable and nonviable yeast cells was used to demonstrate the focusing and separation effect of the designed microfluidic device. The fabricated chip performs a desired focusing result for the conditions with the electric fields frequency of 1MHz, the medium conductivity of 0.01S/m and the applied voltage V = 20Vpp. The mixture of viable and nonviable yeast cells were focused to the central plane of the micro-channel and then separated by non-equilibrium nDEP induced by the single part of the last pair of electrodes with conductivity σ = 0.01S/m, applied voltage V = 20Vpp and applied electric field frequency of 5Mhz, which validities the prediction of the proposed 3D model. This Lab-On-Chip device provides a simple and effective mean of particle focusing. © Liu et al.

关键词： Electrophoresis

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Wang, Yan-Shen Ge, Lian-Zheng Xie, Ping-Chun Gai, Yu-Xian Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Province 264209 China State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424481149

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2. © 2011 IEEE.

关键词： Spot welding

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Servo system of 6 DOF electro-hydraulic shaking table

Servo system of 6 DOF electro-hydraulic shaking table

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Yin, Liyi Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Electro-hydraulic shaking table (EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom (DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a real-time PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST. © 2011 Springer-Verlag.

关键词： Hydraulic actuators

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Study of thrust lever control loading system in flight simulator

Study of thrust lever control loading system in flight simul...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Zhao, Jinsong Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called SimMechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque. © 2011 Springer-Verlag.

关键词： Flight simulators

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Development of a panoramic simulation for robot assisted endoscopic surgery

Development of a panoramic simulation for robot assisted end...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Zhiyuan Yan Dongmei Wu Ruqi Ma Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback.

关键词： Irrigation Haptic interfaces

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Modeling demand resources for ISO's demand response scheduling

Modeling demand resources for ISO's demand response scheduli...

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Power Tech Conference

作者： Hyung-Geun Kwag Jin-O Kim State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper proposes the registration information, the participation information for classifying demand resources participate in demand response program. Modeling demand resources from them, it evaluates values of demand resources. Specially assuming that ignore the loss in power system, they take a role as generation. Therefore this paper proposes the conceptual transformation of demand resources into virtual generation units and then ISO executes DR scheduling from evaluated demand resources' values and generation data, network data.

关键词： Snow

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An Approach for Determining the Next Best View Based on Voxel Map and Simplex Method

An Approach for Determining the Next Best View Based on Voxe...

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The 2011 International Conference on Automation and robotics(ICAR 2011)

作者： Shihui Zhang Xiaowei Qu State Key Laboratory of Robotics and System (HIT) College of Information Science and Engineering Yanshan University

Aiming at the problem of the next best view, an approach for determining the next best view is proposed by using voxel map and simplex method. Firstly, a range image of the scene is obtained, then a voxel map is created according to the range data and related voxel information is obtained. Secondly, an objective function which considers area, quality, overlap, occlusion, navigation and other factors is defined, and the problem of the next best view is abstracted to the optimization solving problem of objective function. Finally, the simplex method is applied to optimize the objective function. The direction and position corresponding to the optimal solution of the objective function is the next best view. Experimental results show that the proposed approach is feasible and effective.

关键词： range image voxel map next best view objective function simplex method

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