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International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Shijie Dai He Huang Fang Wu Shumei Xiao Ting Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-making table of the robot is obtained, which can be simplified by the rough set theory to extract the minimal decision-making rules. We use these rules to train the initial population of the genetic algorithm (GA), and then solve the best path using GA. At last, the simulations are performed and contrasted under multi-group test conditions to the initial population of GA simplified by rough sets and generated randomly respectively, the results of which suggest that the effect of this suggested RSGA is significant at optimizing the robot path planning speed, especially in the complicated environments.

关键词： Path planning Mobile robots Genetic algorithms robotics and automation Set theory Intelligent networks Intelligent robots Decision making Rough sets Orbital robotics

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Adhesion Theory of Frication Model and Characteristics of Hybrid Transducer Type Ultrasonic Motors

Adhesion Theory of Frication Model and Characteristics of Hy...

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2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

作者： Mingwei Sheng Weishan Chen Junkao Liu Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology92 West Da-Zhi Street Harbin150001China

High torque as one important characteristic of longitudinal-torsional hybrid transducertype ultrasonic motor (HTUSM) is mainly caused of discontinuous-surface-connect mode between the stator and the rotor which is different from the many-pointconnect mode of traveling wave motors. Therefore, it is important that one connect friction model is proposed to analyze this connect mode between the stator and the rotor. In this paper, according to the adhesion theory of friction, an advanced equivalent circuit of the motor which contains both the longitudinal vibrator and torsional vibrator is proposed. Based on this model, design method of a longitudinal-torsional hybrid transducer-type ultrasonic motor (HTUSM) aimed at practical uses of the motor is presented. All factors that influence the mechanical characteristics are analyzed, and low-efficient of this type motor is explained. Based on this study, mechanical characteristics of the motor such as the maximum torque, efficiency and the no-load speed and preload are determined.

关键词： Ultrasonic motor Adhesion theory of friction Mechanical characteristics

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Study and Test of a Double-rotor Ultrasonic Motor with Symmetrical Longitudinal-torsional Converter

Study and Test of a Double-rotor Ultrasonic Motor with Symme...

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2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

作者： Mingwei Sheng Weishan Chen Junkao Liu Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology92 West Da-Zhi Street Harbin150001China

To obtain large torque, ultrasonic motors using longitudinal–torsional converters with diagonal slits are proposed. The converters have rather simple and tough structures and are driven by simply exciting the longitudinal vibration of the transducer. Stemming from the merits of such type ultrasonic motors, this paper proposes a double-rotor ultrasonic motor with a symmetrical longitudinal-torsional converter. The ultrasonic motor consists of four PZT-4 annular plates that vibrate longitudinally, two sonotrodes screw bonded atop the two end surfaces of the PZT plate stack, and two rotors pre-pressed against to the output surfaces of the sonotrodes by coil springs. To form identical directions of the output elliptical trajectory motions of the driving points, diagonal slits were symmetrically cut in the sonotrodes. To validate the proposed idea, principle description, FEM simulation, fabrication, and performance measurement of and prototype motor are presented in this paper. The tested performance of the

关键词： ultrasonic motor longitudinal–torsional converter converter with diagonal slits

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Sine Wave Form Reappeared Control Method Research of Variable Step-Size on Hydro-Pneumatic Suspension system

Sine Wave Form Reappeared Control Method Research of Variabl...

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International Conference on Intelligent Computation Technology and Automation, ICICTA

作者： Hui Zhang Zhengmao Ye Junwei Han Jiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China Shipbuilding Industry Corp Beijing CN

ISBN: (纸本)9781424447411

This paper described phase-amplitude control methods, based on fix step-size (FSS-LMS) and variable step-size (VSS-LMS) in ALINE neural network control respectively, were compared and analyzed on the simulated hydro-pneumatic suspension control system. The test results indicated that phase-amplitude control method could improve the sine signal reappeared accuracy in limited range, efficiently realize sine signal coordinated loading control for same or not phase and amplitude by adjusting input signals, and be suitable for more coordinated loading control in multi-channel system.

关键词： Control systems Force control Valves Vehicles Petroleum Intelligent robots robotics and automation Laboratories Neural networks Iterative methods

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A method of target recognition from remote sensing images

A method of target recognition from remote sensing images

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Shuguo Wang Yili Fu Kun Xing Xianwei Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin Heilongjiang CN

According to the characteristics of airfield and harbor from remote sensing images, a method of large target recognition based on the combination of target region and shape features is presented. First, edge detection and improved Hough transform are used to select line segments, the region including regular-array line segments in image is considered as region of interesting (ROI). ROI detection is the base for recognition. Target geometry shape is extracted from ROI using optimum threshold segmentation, which removes location effect and improves efficiency. As calculating shape principal orientations, all shapes are rotated to the same horizontally right to avoid rotation effect. The features extracted from shape implement multi-levels representation with moment features, normalized moment of inertia, length-width ratio and compact ration. Finally, feature vectors are normalized to measure similarity between target and template. Experiments show that target regions can be located accurately using ROI detection and it is effective for target recognition. Besides, the extracted features have good invariability with respect to rotation, translation and scaling, and they comprise local and overall consistency of the target, therefore, the recognition results meet expectations well.

关键词： Target recognition Remote sensing Shape Image segmentation Image edge detection Feature extraction Data mining Image recognition Robots Interference

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Integrating positioning X-Y stage based on bulk micromachining

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2009年第2期17卷 333-340页

作者： Wang, Jia-Chou Rong, Wei-Bin Li, Xin-Xin Sun, Li-Ning Ma, Li State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China

In order to realize the miniaturized nano-positioning stage, a novel 2-DOF Single Crystal Silicon (SCS) nano-positioning micro X-Y stage with the function of displacement detection is successfully developed by using silicon bulk-micromachining;the X-Y stage is drived by an electrostatics comb actuator. The theories of electromechanical coupling and energy conservation are used to analyze electrostatic actuated mechanism, X-Y stage static characteristic and X-Ystage dynamic characteristic. Some failure modes of X-Y stage are also presented and the electromechanical side instability and the stable travel range of comb-drive actuators are investigated. The stable travel range depends on the finger gap spacing, the initial finger overlap and the spring stiffness ratio of the compliant suspension. Additionally, by taking into account the effect of the air damping on the X-Ystage dynamic characteristic, the maximum velocity, stable travel range and critical driving voltage are given to an experiment on closed-loop control. The experimental results indicate that the analyzed characteristics are useful in the design and control of the micro X-Ystage. Under 30 V driving voltage, the single-axis displacement output is 10 μm, and the closed-loop step response is only 2.5 ms.

关键词： Electrostatics

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Design of the Force Sense Unit for Space Robot End-effector

Design of the Force Sense Unit for Space Robot End-effector

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Fenglei Ni Qingli Zhang Yingyuan Zhu Yongbin Wang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Mechanics & Electricity Beijing 100076China Institute of Robotics and Mechatronics German

ISBN: (纸本)9781424447749

In the process of space robot capturing, the space robot end-effector was in open-loop state, and the robot controller could not estimate if the capture interface was in desired position. Hence a force sense unit adapted to vicious outer space environment used as the capturing force feedback to the control system was designed. By the method of mechatronics integration design, the force sense unit was integrated into the robot end-effector, which enhanced the reliability, reduced the installing and debugging difficulty. The structure of sensor's elastomer was modeled, and then it was analyzed by the FEA software Patran/Nastran. At last, inherence frequency of the sensor was figured out from mode analyzing, and a number of object capture tests were carried out. Experimental results showed that degree of non-linearity (1.7％), delicacy (0.0025 V/N) and stability of the sensor unit was significantly accorded with the design targets of space robot end-effector.

关键词： Force sensor FEA analyzing sensor demarcate space robot end-effector

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A Highly Integrated and Flexible Joint Test system Based on DSP/FPGA-FPGA

A Highly Integrated and Flexible Joint Test System Based on ...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Minghe Jin Yikun Gu Jin Dang Fenglei Ni Hong Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Institute of Robotics and Mechatronics German Aerospace Center (DLR)WesslingD-82230Germany

ISBN: (纸本)9781424447749

This paper analyzes that a flexible robot test system should have these properties of data acquisition, servo control, multi-communication modes, complex and fast computation, multitasking and friendly interface. This paper investigates a highly integrated and flexible joint test system for HIT arm based on DSP/FPGA-FPGA. This test system includes two hardware levels, Cartesian level and joint level. The Cartesian level includes a digital signal processing/field programmable gate array (DSP/FPGA) structure. Based on this level, complex control algorithm and fast computation can be carried out;the joint level has the other FPGA, it can realize two joints functions: all sensors data acquisition, servo control. In this test system, there are two communication modes: CAN bus and M-LVDS bus. According to the hardware architecture, a novel software architecture was designed, which consists of three levels: external user level, the higher level and the lower level. This system is flexible, many measures and experiments can be implemented by this system. Experimental results demonstrate the effectiveness of the highly integrated and flexible joint test system.

关键词： Test system DSP FPGA joint servo control

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Modeling and Simulation on the Contact Deformation Distribution in a Wire Race Ball Bearing

Modeling and Simulation on the Contact Deformation Distribut...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Weishan Chen Tao Xie Xiaobiao Shan Lili Wang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China College of Science Northeast Forestry UniversityHarbin 150040China

ISBN: (纸本)9781424447749

A mathematical model was firstly built for investigating the contact deformation distribution in a wire race ball bearing. The numerical computing program was developed in MATLAB, by employing an example of a wire race ball bearing with a 1000 mm diameter used in a large-scale caterpillar disaster relief robot. The contact deformation distribution in the elliptical contact zone of the wire and the ball was obtained. The finite element simulation was carried out to demonstrate the validity of the mathematical model and numerical method. It shows that the results by the numerical method are in good agreement with those by the simulation. The present work provides a significant support for studying the stiffness of the wire race ball bearing, and for boosting the application in the large scale rescue robot.

关键词： ELECTRIC WIRE BEARING BALLS Contact deformation Numerical methods Mathematical Model FINITE ELEMENT Disaster relief simulating CONTACT AREA Racial Stocks Modeling MATLAB

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Dynamic Analysis and Robust Reliability Design of Pan Mechanism for a cooking Robot

Dynamic Analysis and Robust Reliability Design of Pan Mechan...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Hong Wang Wei Zhao Bing Li Xiaorui Lin Donglai Zhang Harbin Institute of Technology P.R.China State Key Laboratory of Robotics and System (HIT)Harbin 150001P.R.China

ISBN: (纸本)9781424447749

As a novel service robot, the automatic cooking robot(ACR) has been attracting many people's attentions. But the existing products still have some disadvantages, especially the quick-return mechanism used as the main mechanism to turn over the pan. There are always large vibrations and noises accompanying with the motions of the quick-return turning-over mechanism. And its stability and reliability which are the important factors influencing the quality of the dishes are not high. Therefore, a proved turning-over mechanism is introduced based on the purpose of vibration and noise reduction. The dynamic analyses of the two turning-over mechanisms are done through Ansys and their low-order natural frequencies and vibration modes are presented in this paper. And it is concluded that the proved mechanism has smaller vibration and noise through the comparison of natural frequencies and integer displacements. Then, the key factors influencing the reliability of the turning-over motion are analyzed through the design and analysis of robust reliability.

关键词： Dynamic analysis cooking robot Natural frequencies Noise noise damping peroxyacetyl nitrate Turning parabolic reflectors Vibration Vibrations modes

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