检索结果-内蒙古大学图书馆

Design of a control system for a macro-micro dual-drive high acceleration high precision positioning stage for IC packaging

引用

Science China(Technological Sciences) 2009年第7期52卷 1858-1865页

作者： LIU YanJie LI Teng SUN LiNing State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.

关键词： macro-micro dual-drive positioning stage control system friction LQG

来源：评论

学校读者我要写书评

暂无评论

A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

引用

High Technology Letters 2009年第3期15卷 245-249页

作者：李庆玲 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.

关键词： rehabilitation robot surface electromyogram （sEMG） passive motions active-resis- tant motions

来源：评论

学校读者我要写书评

暂无评论

Design and analysis of a kind of biomimetic continuum robot

Design and analysis of a kind of biomimetic continuum robot

引用

IEEE International Conference on robotics and Biomimetics

作者： Qiang Zhao Fang Gao State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin Heilongjiang China Traffic College Northeast Forestry University Harbin Heilongjiang China Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424493197

Continuum robot is a new kind of bionic robot, and it is the beneficial supplement to the traditional joint-type robot. This paper presented a design scheme of Hook Joint type continuum robot, and fully discussed its structure and mechanism connection mode. An exponential product based matrix transformation is used to describe the position and orientation of the end-effector. The forward kinematics is also discussed in this paper. Numerical examples are completed with Matlab M language and simulation results indicate the validity of the proposed analysis method.

关键词： Joints Animation Kinematics Jacobian matrices Springs Robot kinematics

来源：评论

学校读者我要写书评

暂无评论

An interventional treatment plan system design on liver tumor

An interventional treatment plan system design on liver tumo...

引用

International Conference on Image Analysis and Signal Processing, IASP

作者： Xie Xiaohui Zhang Lei Yu Xiaofang Du Ruxu Shenzhen Institute of Advanced Integration Technology Chinese University of Hong Kong Shenzhen Hong Kong China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Science and Technology Harbin China ShenZhen People's Hospital Shenzhen China

Interventional treatment becomes increasingly popular since this technique means substantially less trauma for the patient. By using VTK and ITK to build a plan system, the treatment can be high efficiency. VTK is responsible for visualization, while ITK takes care of the image segmentation and registration. By combining VTK and ITK, and using Qt as the user interface, an interventional treatment plan system is built. This system has finished several mainly functions, like DICOM data displaying in multi-planar reformation, manual segmentation, semi-automatic segmentation, surface rendering using marching cubes algorithm, volume rendering using volume ray casting algorithm. Also an interventional treatment plan system has been developed based on the medical inspection.

关键词： Liver neoplasms Image segmentation Medical treatment Rendering (computer graphics) Data visualization User interfaces DICOM Surface finishing Surface treatment Casting

来源：评论

学校读者我要写书评

暂无评论

A tool-path interpolation algorithm based on unfolding-bending parametric curves

引用

key Engineering Materials 2009年 407-408卷 220-224页

作者： Fan, Licheng Sun, Lining Du, Zhijiang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9780878493388

To grind sculptured surface by swing motion, it's needed to interpolate the discrete data nodes on the arc-driving surface. To ensure that all the sample points locate on the arc surface, a novel unfolding parameter curve is proposed. Firstly, all the discrete data are stretched onto a plane, inside hich the cubic B-spline curves are interpolated. After that, some points are sampled from the spline curves and bended to the arc-driving surface according to the swing radius. To eliminate cutting vibration and chord error exceeds limitation;radial speed is tuned by controlling the chord error. The simulation results are given to prove the proposed algorithm. © (2009) Trans Tech Publications, Switzerland.

关键词： Curve fitting

来源：评论

学校读者我要写书评

暂无评论

Influence of Axial Length Ratio of Stator Segment on Performance of Tubular Transverse Flux Linear Machine

Influence of Axial Length Ratio of Stator Segment on Perform...

引用

Biennial Institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

作者： Zhao Mei Zou Ji-bin Jiang Xin-tong Fu Xing-he Chandur Sadarangani State Key Laboratory of Robotics and System Harbin Institute of Technology Dept. Electrical Machines and Power Electronics KTH

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis.

关键词： Tubular Finite element method linear machines Stators machine performance axial length Transverse LenRto

来源：评论

学校读者我要写书评

暂无评论

Multiple-Pursuer Cooperative Multiple-Evader Games based on auction mechanism

引用

Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology 2010年第SUPPL. 2期42卷 160-164页

作者： Cai, Ze-Su Hong, Bing-Rong Sun, Li-Ning State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

This paper mainly discusses Multiple-Pursuer Cooperative Multiple-Evader Games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional Contract Net protocol is extended, including the motivational vector of robot, the trust degree and the acquaintance degree to improve the alliance decision. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on auction was proposed in this paper. It allocated task dynamically through capability classification and independent competition. It can support the dynamically changing capability of each agent and reduce the cost of communication and the difficulty of acquiring knowledge. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

Erratum to: Notice of Modification

引用

Journal of Bionic Engineering 2010年第1期7卷 112-112页

作者： Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

来源：评论

学校读者我要写书评

暂无评论

Factors governing heat affected zone during wire bonding

引用

Transactions of Nonferrous Metals Society of China 2009年第S02期19卷 490-494页

作者： SUN Li-ning LIU Yue-tao LIU Yan-jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Mechanical Engineering Shandong University of TechnologyZibo 255049China

In the wire bonding process of microelectronic packaging,heat affect zone(HAZ)is an important factor governing the loop profile of *** height of loop is affected by the length of the *** governing the HAZ were *** investigate this relationship,experiments were done for various sizes of wire and free air ball(FAB).Electric flame-off(EFO)current, EFO time,EFO gap and recrystallization were also *** results show that as the size of FAB becomes larger,the length of HAZ *** the increase of EFO current and time,the length of HAZ becomes *** FAB forms at the same parameter the length of HAZ becomes shorter with the high temperature of recrystallization.

关键词： heat affected zone wire bonding electric flame off free air ball

来源：评论

学校读者我要写书评

暂无评论

Theoretical analysis and experimental study of ultrasonic vibration microdissection technology

Theoretical analysis and experimental study of ultrasonic vi...

引用

2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

作者： Chen, Liguo Liu, Yaxin Chen, Tao Sun, Lining State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781424426935

Molecular techniques are transforming our understanding of cellular function and the origin of disease. However, accurate molecular analysis methods will be limited if the input DNA, RNA, or protein is not derived from pure population of cells or is contaminated by the wrong cells. So a novel Ultrasonic Vibration Microdissection (UVM) method was proposed to procure pure population of targeted cells from tissue sections for subsequent analysis. In the last two years, an ultrasonic vibration microdissection system for molecular analysis of tissue had been developed in our laboratory. In this system, a multilayer piezoelectric actuator is used to actuate a sharp microneedle vibrating with high frequency and low amplitude to cut the tissue. In this paper, we focus on the ultrasonic vibration microdissection principle and various parameters on the impact of cutting effect. It is helpful for setting the system parameters, thus as vibration amplitude and frequency, properly to get the ideal cutting effect. Finally, contrast experiments were carried out, and the experiment results show agreement with the analyses results. It indicates that the embedded tissue can be quickly and precisely cut with the ultrasonic vibration microdissection method under the proper parameters. ©2009 IEEE.

关键词： Microdissection

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：