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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Liu, Yanjie Wu, Jiang Han, Haijun Liu, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Dep. of Intelligent Mechanical System Engineering Kochi University of Technology Kami Japan

ISBN: (纸本)9781479939787

In order to achieve the function of measuring friction on contacting surface between wafer and manipulator in real time, in this paper, we mainly measured the resolution and precision of the three dimension force sensor based on piezoresistive conductive ink. Resolution of tangential force improves with preload in normal direction increasing and the maximum resolution is less than 0.025 N with 0.8 N preload. Maximum error is about 30.62% because of low tangential stiffness of elastomer. The experiment results indicate that this sensor has characteristics of small volume, high flexibility and high resolution, which is prospective for using in wafer transfer system with improvement of higher precision in the future. © 2014 IEEE.

关键词： Flexible three dimension force sensor Resolution measurement

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Consistency analysis of SCADA data from field power systems

Consistency analysis of SCADA data from field power systems

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10th International Conference on Advances in Power system Control, Operation & Management (APSCOM 2015)

作者： Yaping Zhang Hengxu Zhang Liang Wang Guangsong Hou Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education School of Electrical Engineering Shandong University Jinan China Dispatch and Control Center of Shandong Electric Power Corporation Jinan China Heze Power Supply Company of State Grid Shandong Electric Power Corporation China

ISBN: (纸本)9781510830059

SCADA (Supervisory Control And Data Acquisition) system is a basic infrastructure of modern power systems. SCADA data are widely used in applications such as state estimation, power flow calculation, and on-line security assessment. The accuracy of the SCADA data directly affects the implementation of power system automatic control. In practice, the error of the SCADA data may deviate from its factory precision due to the influence of the equipment aging, data transmission and so on. To quantitatively evaluate the validity of the SCADA data, a consistency index is defined in this paper. Some SCADA data from several substations of a power gird is checked with the consistency index to reveal its reliability.

关键词： consistency power systems SCADA error analysis

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Applied research in cartesian impedance control for 6-UPS space docking mechanism

Applied research in cartesian impedance control for 6-UPS sp...

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2nd International Conference on Applied Mechanics and Manufacturing system, AMMS 2014

作者： Sun, Ze Yang Liu, Gang Feng Wang, Meng Chen, Xue Sheng Zhao, Jie State Key Laboratory of Robotic and Systems Harbin Institute of Technology Building C1 Harbin150001 China Beijing Institute of Space System Engineering Building 1 Beijing100076 China

ISBN: (纸本)9783038350958

In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective Cartesian impedance control method based on the feedback signal from 6 force sensors is presented, and a brief introduction to the mechanical structure of the 6-UPS docking mechanism and the control structure of the docking system is given. According to the data analysis of ground experiment, this control method can tremendously improve the buffer effect in the docking stage with the parameters optimized in Simulink. © (2014) Trans Tech Publications, Switzerland.

关键词： Simulink

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SMA-based space release device for solar panels deployment

SMA-based space release device for solar panels deployment

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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Gangfeng, Liu Jihong, Yan Chen, Yang Jie, Zhao Ying, Zhao State Key Laboratory of Robotic and Systems Harbin Institute of Technology Harbin 150001 China Shanghai Institute of Space System Engineering No.3805 Jindu Road Minhang District Shanghai 201108 China

ISBN: (纸本)9781479939787

Most of separating operations for solar panels have been achieved by utilizing explosive bolt nowadays. However, with the development of space technology, especially when new generations of small satellites start to emerge, traditional pyrotechnical products cannot provide spacecrafts with satisfied performance, since the fierce shock and contamination are not avoidable. Thus, developing novel types of non-pyrotechnical actuators has become the research focus for release mechanism. In this paper, we propose to adopt the memory effect of the shape memory alloy (SMA) for developing release devices. Brinson theory has been chosen as the theoretical foundation of performance analysis. This new type of mechanism mitigates the problem of shock and contamination, meanwhile possessing several excellent advantages such as compact volume, quick response, outstanding synchronism and reusability. © 2014 IEEE.

关键词： Solar panels

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An adaptive fuzzy sliding mode control for minimally invasive surgical robot's remote center mechanisms

An adaptive fuzzy sliding mode control for minimally invasiv...

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2014 IEEE International Conference on Information and Automation, ICIA 2014

作者： Shuizhong, Zou Bo, Pan Yili, Fu Shuguo, Wang Shuxiang, Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Intelligent Robotics Kagawa University Takamatsu City Kagawa Prefecture Japan

ISBN: (纸本)9781479941001

Being the most important component of minimally invasive surgical robot system, remote centre mechanisms (RCM) composed of three joints, achieve the position and orientation adjustment of the surgical instrument inside a patient's body. In order to implement the high-precision position control and eliminate the adverse effect result from the friction of RCM's joints, in this paper, a fuzzy sliding mode controller with the friction compensation is designed. The result of simulation and experiment show that the controller designed can provide a trajectory tracking with real-time, high-precision performance and strong robustness.

关键词： Friction Fuzzy systems Joints Manipulators Robustness Sliding mode control Trajectory Adaptive fuzzy sliding mode control Friction compensation Minimally invasive surgical robot Remote centre mechanisms

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Consistency analysis of DFIG wind generation models in PSS/E and PSASP

Consistency analysis of DFIG wind generation models in PSS/E...

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International Conference on Electric Utility Deregulation and Restructuring and Power Technologies (DRPT)

作者： Tao Fu Hengxu Zhang Changgang Li Qingwen Xu Xiaoming Liu Ji Zhang Chao Qi Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education School of Electrical Engineering of Shandong University Jinan China School of Electrical and Electronic Engineering Shandong University of Technology Zibo China Economic&Technology Research Institute State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9781467371070

With rapid increase of wind power installed capacity, the operation mode of power system has changed greatly, it is necessary to include modeling and simulation based on wind turbines and farms. Numerical simulation plays a unique role in power system operation and control, and its accuracy turns out to be the focus of electric industry. PSASP and PSS/E, as two main sorts of simulation analysis software at home and abroad respectively, both enable wind turbines electromechanical transient simulation. In this paper, Detailed comparisons are made between Doubly-fed induction generator (DFIG) in PSS/E and PSASP. Finally, simulative results of power system including the models are compared and analyzed.

关键词： Control systems Power industry Numerical simulation Induction generators Numerical models Frequency conversion

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic Engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Thevenin Equivalent Circuit Parameter Estimation for the PCC Upstream system

Thevenin Equivalent Circuit Parameter Estimation for the PCC...

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International Conference on Electric Utility Deregulation and Restructuring and Power Technologies

作者： Yuanyuan Sun Chuankai Dai Jiaqi Li Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China State Grid Qingdao Electric Power Company Qingdao China

ISBN: (纸本)9781467371070

The Thevenin equivalent circuit parameters for the upstream system seen at a load bus plays an important role in the power system operation and planning. In order to accurately estimate the Thevenin equivalent parameters for the upstream supply system, an estimation method not requiring synchronized measurement is used in this paper. The characteristics of the probability curves of load voltage and impedance fluctuations have been analyzed, based on which the data selection criteria has been established. The field measurement data from different substations are processed by the proposed methods, and abnormal data has been filtered out in order to increase the accuracy of the estimated parameters. The validity and accuracy of the proposed method has been verified by both the simulation and field measurement data.

关键词： Data selection system parameter estimation Thevenin equivalent circuit synchronizing data

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Fuzzy adaptive control for a class of non-affine systems based on singular perturbation theory

Fuzzy adaptive control for a class of non-affine systems bas...

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World Congress on Engineering and Computer Science, WCECS 2012

作者： Gao, Daoxiang Lu, Dunmin Sun, Zengqi School of Technology Beijing Forestry University Beijing 100083 China State Key Laboratory of Intelligent Technology and System Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9789400768178

A fuzzy adaptive control method is proposed for a class of non-affine nonlinear systems. By combing implicit function theorem and time scale separation, the control input is derived from the solution of a fast dynamical equation. Stability analysis shows that the proposed approach can guarantee the boundedness of the tracking error semi-globally, which can be made arbitrarily small by choosing appropriate design parameters. Tracking performance is illustrated by simulation results. © 2014 Springer Science+Business Media Dordrecht.

关键词： Fuzzy control

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Detecting of early rottenness in apples using hyperspectral machine vision with effective wavebands

Detecting of early rottenness in apples using hyperspectral ...

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作者： Zhang, Baohua Huang, Wenqian Li, Jiangbo Zhao, Chunjiang Liu, Chengliang Huang, Danfeng Gong, Liang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Beijing Research Center of Intelligent Equipment for Agriculture Beijing Academy of Agriculture and Forestry Sciences Beijing China

Rottenness is one of the most prevalent defects caused by mechanical damage or fungal infection. It is a challenging task to detect the early rottenness in apples because they present a color and texture similar to the healthy tissue. In this paper a hyperspectral reflectance imaging system in the spectral region of 4001000 nm was developed for the early detection rottenness in the apples automatically based on hyperspectral machine vision, effective wavebands and minimum noise fraction (MNF) transformation techniques. First, the MNF transformation of the hyperspectral reflectance image were conducted in the full ranges, and the transformation results made it possible to distinguish between areas with rottenness in the tissue and the sound ones. Second, four wavelengths (560, 675, 820 and 950 nm) were chosen to be the effective wavelengths according to the weighing coefficients of the first PCA rotating of MNF transformation. Third, the rottenness detection algorithm was developed based on the effective wavelengths and MFN transformation. For the investigated 90 apples, the overall accuracy was 97.7%, the detection results indicated that the rottenness apples were successfully distinguished from the sound ones using the proposed algorithm. This research lays a foundation for the development of multispectral imaging system based on MNF method for early inspection on fruits. Copyright © 2014 American Scientific Publishers.

关键词： Computer vision

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