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IEEE International Conference on robotics and Biomimetics

作者： Ting Zhang Li Jiang Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

The dexterous prosthetic hand is capable of grasping many objects with different size and shape such as precision, power, and lateral grips. However, most of these prosthetic hands haven't the ability of the tactile. Recent advances in EMG pattern recognition techniques are useful for creating hand prostheses with more intuitive control, but amputees still face the problem of lost tactile feedback. In this paper, a biomimetic tactile data driven closed-loop control of myoelectric prosthetic hand is proposed. The problem addressed in this paper is myoelectric prosthetic hand how to consistently grasp delicate objects without causing damage and dropping. The peculiarity of the proposed controller will offer the hand prostheses the ability to make rapid and accurate adjustments the grasping force based on the tactile feedback, which is similar to our very own reflex pathway. The experiments results show that the proposed controller can significantly improve the grasping function.

关键词： Grasping Force Friction Prosthetic hand Tactile sensors Thumb Electromyography

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Design of Space Robotic Arm-Hand system and Operation Research

Design of Space Robotic Arm-Hand System and Operation Resear...

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IEEE International Conference on Mechatronics and Automation

作者： Chunguang Fan Yuanfei Zhang Zongwu Xie Yiwei Liu Zhiqi Li Chongyang Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China

This paper presents a newly developed robotic Arm-Hand system, which is composed of robotic arm, dexterous hand, tele-operation system, central controller, and visual system. Using this system, a strategy of maintenance on-orbit is proposed, the position of the electrical connector is obtained though the visual system. The target position is sent from the tele-operation system to the central controller, the central controller control the robotic arm and hand to complete the maintenance task. A self-adaptive gravity compensation controller is proposed by analyzing and comparing the difference of gravity between the ground and space. The result shows the effectiveness of the strategy which proposed by this paper.

关键词： Manipulators Robot sensing systems Connectors Space stations Control systems

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Joint Design and Position Servo Control of Frog Inspired Robot Based on Pneumatic Muscle and Reset Spring

Joint Design and Position Servo Control of Frog Inspired Rob...

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IEEE International Conference on Mechatronics and Automation

作者： Fan Jizhuang Yuan Bowen Du Qilong Zhang He State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Peoples R China

In this paper, a single degree of freedom joint is designed based on pneumatic muscle and reset spring. First of all, through the isobaric experiment, equal length experiment and equal tension experiment, we build a more accurate pneumatic muscle model. Then a three-order affine nonlinear mathematical model is established by studying the characteristics of the highspeed switching valve, the internal pressure changes of the pneumatic muscle, the energy formula of pneumatic muscle during charging and releasing gas and the dynamic formula of joint to describe the relationship between the input of the value of PWM and output of the joint angle. MATLAB S function is used for simulation, and the corresponding static and dynamic response is obtained through different input (PWM). At the same time, the influence of the three main factors is studied. Based on this model, the equivalent sliding mode control law is designed. We prove the stability, verify the static and dynamic control effect of the control law.

关键词： Muscles Force Analytical models Mathematical model Atmospheric modeling Robots Pneumatic systems

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The inter-frame Feature Matching and Tracking of Binocular Vision Based on the ORB-PyrLK algorithm 36

The inter-frame Feature Matching and Tracking of Binocular V...

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第36届中国控制会议

作者： Zhanhai Yu Ke Wang Rifeng Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781538629185

The feature matching and tracking of binocular vision inter-frame images have been divided into three parts in this *** image feature extraction,an image binarization segmentation method based on HSV color space is used to extract the target in order to reduce the searching range of feature points and improve the matching *** feature matching,a modified ORB method combining KNN rough algorithm and RANSAC fine algorithm is applied to improve the matching accuracy of left-right frame *** to feature tracking which can be seen as the matching of front-rear frames,an inter-frame matching method based on ORB feature optical flow is proposed to realize the *** are shown in several experiments to demonstrate that the proposed algorithm can improve the accuracy and efficiency of left-right frame and front-rear frame image matching.

关键词： Binocular Vision Feature Matching ORB KNN RANSAC PyrLK Accuracy

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A New Underwater Robot for Crack Welding in Nuclear Power Plants

A New Underwater Robot for Crack Welding in Nuclear Power Pl...

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IEEE International Conference on robotics and Biomimetics

作者： Yang Luo Jianguo Tao Qingjie Sun Liping Deng Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

In this paper, a new underwater robot for crack welding has been developed which can realize crack welding with high stability and accuracy on walls of the spent fuel pools (SFPs) in nuclear power plants. Multi-thrusters with vector distribution are ultilized to minimize interferences which make the underwater robot attach on the bottom of SFP steadily. Moreover, the underwater welding system is optimized to achieve high quality welding performance. Experimental results show that the underwater robot can achieve highly accurate crack welding. As a result, the underwater robot holds great practicality and utility in the application of underwater crack-welding in nuclear power plants and other underwater scenarios.

关键词： Welding Unmanned underwater vehicles Wires Feeds Power generation Robots Fuels

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Modeling and simulation of the structural and electrical characteristics for a polarized piezoelectric sensor actuator

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Chong Zhang Xiaobiao Shan Gaoliang Peng Tao Xie Xin Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The present work aims to design a new polarized piezoelectric sensor actuator. This sensor actuator not only can achieve sensing and execution at the same time, but also has the advantages of small size and high integration. A mathematical model of stack displacement with input voltage and number of layers was established. The relationship between the charge generated by quartz crystal and external force was numerically analysed. The static and modal analysis of the structure were carried out to obtain the measured force range and the maximum working frequency. The transient simulation is used to verify the follow-up law of the actuator to the alternating signal. The Electric field interference analysis of the piezoelectric sensor actuator was performed to eliminate the interference from the electric field generated by the actuator. The results show that the measured force range of the actuator is up to 1 kN, with the maximum working frequency is 1000 Hz, and the actuator can follow the drive voltage signal well, with an almost negligible electric field interference in the sensor part. This paper provides a new method and theory for the study of self-sensing actuators.

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Semantic Segmentation based Dense RGB-D SLAM in Dynamic Environments

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Journal of Physics: Conference Series 2019年第1期1267卷

作者： Jianbo Zhang Yanjie Liu Junguo Chen Liulong Ma Dong Jin Jiao Chen State Key Laboratory of Robotics and System (HIT) China Petroleum Materials Company Limited

Visual Simultaneous Location and Mapping (SLAM) based on RGB-D has developed as a fundamental capability for intelligent mobile robot. However, most of existing SLAM algorithms assume that the environment is static and not suitable for dynamic environments. This is because moving objects in dynamic environments can interfere with camera pose tracking, cause undesired objects to be integrated into the map. In this paper, we modify the existing framework for RGB-D SLAM in dynamic environments, which reduces the influence of moving objects and reconstructs the background. The method starts by semantic segmentation and motion points detection, then removing feature points on moving objects. Meanwhile, a clean and accurate semantic map is produced, which contains semantic information maintenance part. Quantitative experiments using TUM RGB-D dataset are conducted. The results show that the absolute trajectory accuracy and real-time performance in dynamic scenes can be improved.

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Experimental study on underwater fin-shaped piezoelectric energy harvester based on wake galloping

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Yicong Wang Xiaobiao Shan Ju Feng Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a novel piezoelectric energy harvester based on wake galloping in water. This harvester consists of a bluff cylinder and a fin connected with a macro fiber composite (MFC) piezoelectric plate. The fluid flows through the upstream bluff cylinder and produces alternating shedding vortices behind it. Vortex shedding produces periodic crosswise vortex-induced force to drive the fin and piezoelectric plate vibrating to generate electricity. An experimental platform was established and several prototypes of energy harvesters were fabricated. The experimental results show that, under different flow velocity domains, the harvesting effect of the bluff cylinder with a diameter of 30 mm is the most ideal for the energy harvester with a fin length of 20, 30 and 40 mm. When the fin length is 20 mm, the output voltage changes most smoothly. To obtain stable open circuit output voltage, the spacing distance between the bluff cylinder with a diameter of 25 mm and the fin should be controlled within 3D, while, the spacing distance between the bluff cylinder with a diameter of 30 mm and the fin should be controlled within 2D. When the bluff cylinder with a diameter of 30 mm, a spacing distance of 100 mm, and a flow velocity of 0.427 m/s, the maximum open circuit output voltage of 7.289 V can be obtained. The present work provides an effective experimental foundation for the research of underwater fin-shaped vehicle's dynamic endurance.

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Modeling of nonlinear dynamic characteristics and experimental study of piezoelectric energy harvesters with a panel type structure

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： Jinda Jia Xiaobiao Shan Yingxiang Liu Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Panel flutter vibration is a typical aeroelastic phenomenon taking place in flying aircrafts as they move at high speed. The vibration has been a hot academic research aspect. The present paper focuses on converting this aerodynamic mechanical vibration into useful electricity by using piezoelectric patches. A mathematical Euler-Bernoulli distributed model of the piezoelectric energy harvesting system is established to investigate nonlinear dynamical behaviour of a piezoelectric cantilever plate. The dynamical responding ability of energy harvesting is numerically calculated. Influences of the length and the thickness of piezoelectric layer, the external resistance and wind velocity on the output performance are emphatically explored. A series of prototypes of piezoelectric energy harvesters with different physical dimensions were designed and manufactured. Wind tunnel experiments were setup and carried out at different wind velocities. The experimental results show that the harvesting power gets enhanced as increasing the wind velocity. The maximum power could be obtained at condition of a reasonable piezoelectric length and width. Maximum power is 2.0 mW at wind speed of 11.0 m/s. This work provides a strong theoretical and experimental basis for the study of aerodynamic energy harvesting from panel aircrafts.

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Time-varying keys for encryption in WSNs: IEEE CNS 17 poster

Time-varying keys for encryption in WSNs: IEEE CNS 17 poster

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2017 IEEE Conference on Communications and Network Security, CNS 2017

作者： Uchiteleva, Elena Shami, Abdallah Refaey, Ahmed State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538606834

This work presents a novel scheme which reinforces strength of encryption keys in low-power and low-rate wireless sensor networks (WSNs). The proposed algorithm utilizes pseudo-random features of physical layer (PHY) of the communication stack to enable time-evolution of network keys increasing their complexity and reliability. This scalable and light-weight scheme is suitable for large networks of memory- A nd energy-restricted sensing devices and is aimed at enhancing security strength during broadcasting. Our preliminary results demonstrate that generated time-varying key sequences show no correlation or linear dependencies between instances and are resilient to intelligent brute-force attacks. © 2017 IEEE.

关键词： Cryptography

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