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International Symposium on systems and Control in Aerospace and Astronautics (ISSCAA)

作者： Xinxin Yang Xiong Luo Fuchun Sun Fengge Wu Huaping Liu School of Information Engineering Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) University of Science and Technology Beijing Beijing China State Key Laboratory of Intelligent Technology and System Department of Computer Science and TechnologyTsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing China

In recent years, dynamics model and control of space robot system are the hot topics in the research field. In this paper, a new dynamics model and control strategy of space robotic system with a flexible manipulator and a liquid fuel tank are investigated. Based on Lagrange equation method, the dynamics model of the space robotic system coupling with liquid sloshing, flexibility vibration and base movement is derived. The elastic deflection of the flexible manipulator is described by the assumed mode method and equivalent mechanical model is adopted instead of liquid sloshing under the environment of low-gravity. The inverse dynamics control algorithm combined with PD control method is performed to solve the trajectory tracking problem. Some simulation results are given to verify the effectiveness of the proposed method.

关键词： Mathematical model Aerospace electronics Manipulator dynamics Equations Space vehicles

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Fuzzy dynamic characteristic modeling and intelligent adaptive control for complex spacecraft

Fuzzy dynamic characteristic modeling and intelligent adapti...

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World Congress on intelligent Control and Automation (WCICA)

作者： Xiong Luo Song Hu Zengqi Sun Xintao Qiu School of Information Engineering Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) University of Science and Technology Beijing Beijing China State Key Laboratory of Intelligent Technology and System Department of Computer Science and Technology Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing China

Because of strong coupling, nonlinear, and time-varying characteristics, it is difficult to control complex spacecraft. By means of combining with controlled object dynamics and performance requirements, characteristic modeling and control approach is an effective way to solve this problem. Aimed at the flexible satellites described by using characteristic modeling approach, with the help of fuzzy rules, fuzzy dynamic characteristic modeling method and intelligent adaptive controller are designed to control this complex spacecraft. Meanwhile, based on the satellite system simulation platform, we validate the correctness and efficiency of the proposed modeling and control method by comparing with the simulation results of the other similar methods.

关键词： Adaptation model Laboratories Satellites Space vehicles intelligent control Artificial intelligence Information science

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An algorithm on releasing range of traffic guidance information based on simulated annealing

An algorithm on releasing range of traffic guidance informat...

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Chinese Control Conference (CCC)

作者： De-Wang Chen Li-Jun Pei Jing Liu State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University 100044 China School of Electronic and Information Engineering Beijing Jiaotong University 100044 China Beijing STONE Intelligent Transportation System integration CO. LTD. 100081 China

In this paper, releasing range model of traffic guidance information is formulated based on combinatorial optimization by the correlation analysis of road traffic flow in time and space. As it is hard to get the optimal solution in a limited time through analysis, a greedy algorithm and a simulated annealing (SA) based algorithm are presented to solve the model. Some traffic flow data detected by remote microwave sensors in some road links in Beijing urban expressway are employed to compare the two algorithms. The results show that SA based algorithm has achieved better result even its running time is little longer than the greedy algorithm. Therefore the proposed SA based algorithms can be used to improve the pertinency, validity and automation of releasing traffic guidance information.

关键词： Algorithm design and analysis Electronic mail Simulated annealing Analytical models Stochastic processes Roads

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Classification of lying states for the humanoid robot SJTU-HR1

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Science China(Technological Sciences) 2009年第5期52卷 1301-1311页

作者： JiaLun Yang Feng Gao ZhenLin Jin LiFeng Shi State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Robotic Research Center Yanshan University Qinhuangdao 066004 China

The humanoid robot SJTU-HR1’s concept is introduced and its characteristics tree is given. The basic states for SJTU-HR1 are proposed, including lying, sitting, standing and handstanding, abstracted from the daily exercises of human beings. The G _F(generalized function) set theory is exploited to achieve the kinematic characteristics of the interested EEs (end-effectors) of SJTU-HR1 for the lying states. Finally, the results show that the large amounts of states can be described using the abbreviations in a systematic manner. Although we have focused on the application of the G _Fset theory to humanoid robots, particularly the SJTU-HR1, this methodology can also be applied to quadruped robots and hexapedal robots, especially when the desired tasks are complex.

关键词： SJTU-HR1 G Fset motion planning basic states lying states

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An algorithm on releasing range of traffic guidance information based on simulated annealing

An algorithm on releasing range of traffic guidance informat...

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作者： Chen, De-Wang Pei, Li-Jun Liu, Jing State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China School of Electronic and Information Engineering Beijing Jiaotong University Beijing 100044 China Beijing STONE Intelligent Transportation System Integration Co. Ltd. Beijing 100081 China

ISBN: (纸本)9787894631046

关键词： Combinatorial optimization

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Effects of Shoe Heel Height on Loading and Muscle Activity for Trans-Tibial Amputees During Standing

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Tsinghua Science and Technology 2009年第3期14卷 281-286页

作者：贾晓红王人成 Winson Lee Division of Intelligent and Biomechanical System State Key Laboratory of Tribology Tsinghua UniversityBeijing 100084 China Institute of Health and Biomedical Innovation Queensland University of TechnologyBrisbane Australia

This study accesses the effects of shoe heel heights on loading, muscle activity, and plantar foot pressure of trans-tibial amputees during standing. Five male subjects with unilateral trans-tibial amputation volunteered to participate in this study. Three pairs of shoes with zero, 20 mm, and 40 mm heel heights were used. The loading line of the prosthetic side, the plantar foot pressure, and the surface electromyography （EMG） of 10 muscles were simultaneously recorded. With increasing shoe heel heights during standing, the loading line of the prosthetic side shifted from the anterior to the posterior side of the knee center, the peak pressure was increased in the medial forefoot region, and the peak pressure was reduced in the heel region. The EMG of the medial and lateral gastrocnemius of the sound leg almost doubled and that of the rectus fomris, vastus lateralis, and vastus medialis of the prosthetic side increased to different extents with in- creasing heel heights from zero to 40 mm. These results show a high correlation with human physical be- havior. Changing of the heel heights for trans-tibial amputees during standing actually had similar effects to altering the prosthetic sagittal alignment. The results suggest that an alignment change is necessary to accommodate heel height changes and that prosthesis users should be cautious when choosing shoes.

关键词： shoe-heel height loading line plantar foot pressure surface electromyography （EMG） prosthetic alignment

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Backstepping impedance control flexible joint manipulators using DSP/FPGA structure

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Kongzhi yu Juece/Control and Decision 2009年第8期24卷 1137-1142页

作者： Xiong, Gen-Liang Liu, Yi-Wei Huang, Jian-Bin Liu, Hong Jiang, Zai-Nan Sun, Kui State Key Laboratory of Robotic Technology and System Harbin University of Technology Harbin 150001 China German Aerospace Center Wessling 82234 China

Aiming at the compliant control problem of flexible joint manipulator when it contacts with environment, an impedance control is proposed based on backstepping approach. And the stability of the controller is proven by using Lyapunov stability theory. The approach is on the basis of the model of flexible joint robot manipulator, which combines the choice of a Lyapunov function with the design of controller. The backstepping design technique starts from the differential equation in its smallest order of the system, which designs the satisfied virtual control step by step, then the real controller can be obtained. The experimental results of trajectory tracking and impedance control show the effectiveness and feasibility of the proposed control approach.

关键词： Backstepping

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Development of Integrated Micro Nano-positioning xy-stage based on Bulk Micro-machining

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Journal of Wuhan University of Technology(Materials Science) 2009年第S1期24卷 195-199页

作者：王家畴 State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information TechnologyChinese Academy of Sciences State Key Laboratory of Robotic and System Harbin Institute of Technology

For operation and manipulation with nanometric positioning precision,an integrated micro nano-positioning xy-stage is developed,which is mainly composed of a silicon-based xy-stage,comb-driven actuator and displacement *** high-aspect-ratio comb-driven xy-stage is achieved by deep reactive ion etching (DRIE) in both sides of *** displacement sensor is mainly composed of four vertical sidewall surface piezoresistor connected to form a full Wheatstone bridge.A simple vertical sidewall surface piezoresistor process which improves on the basis of the conventional surface piezoresistor technique is *** experimental results verify the integrated micro nano-positioning xy-stage including the vertical sidewall surface piezoresistor *** sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV/μm without amplification and the linearity is better than 0.814%.Under 30 V driving voltage,a ±10 μm single-axis displacement is measured without *** displacement resolution of the micro xy-stage is better than 10.8 nm.

关键词： MEMS silicon integrated xy-stage comb-driven actuator vertical sidewall surface piezoresistor

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A modified genetic algorithm for global path planning of searching robot in mine disasters

A modified genetic algorithm for global path planning of sea...

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IEEE International Conference on Mechatronics and Automation

作者： Jie Zhao Lei Zhu Gangfeng Liu Gang Liu Zhenfeng Han State Key Laboratory of Robotic Technology and System Harbin Institute of Technology Harbin Heilongjiang China

A modified genetic algorithm for global path planning of searching robot in mine disasters is proposed in this paper. The grid model is built based on the mine GIS (Geographic Information system) which can be obtained from the mine in advance. Using the position information feedback from the Ant Colony Optimization and priority grouping, we present a new efficient method to generate the initial population. Four traditional genetic operators and a fitness function are designed to find the optimum path planning. To avoid the premature, we make some changes to the mutation operators, and self-adaptively adjust the probabilities of crossover and mutation. The simulation is carried out in MATLAB, and the result verifies that it can acquire better collision-free path in higher speed.

关键词： Genetic algorithms Path planning Mobile robots Genetic mutations robotics and automation intelligent robots Laboratories Geographic Information systems Ant colony optimization MATLAB

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Design of hybrid-type MEMS microgripper

Design of hybrid-type MEMS microgripper

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IEEE International Conference on Mechatronics and Automation

作者： Liguo Chen Baixu Liu Tao Chen Bing Shao State Key Laboratory of Robotics and System Robotic Institute Harbin Institute of Technology Harbin China

As the endeffectors of micromanipulation systems, microgrippers are crucial point of such systems for their efficiency and their reliability. So the steady and reliable performance of the microgripper is needed. In this work, a hybrid-type electrostatic silicon microgripper integrated vacuum tool is designed and fabricated to realize the steady gripping and reliable placing manipulations. This hybrid-type microgripper keeps the traditional functions of electrostatic comb drive microgripper and also combines the advantages of the vacuum tool. Vacuum tool integrated in this novel microgripper is used to improve its pick and place capability. Bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The vacuum control subsystem and electrostatic comb drive control subsystem are also designed for the microgripper controlling. At a driving voltage of 80V, a deflection of 25¿m at the arm tip of the gripper is achieved. The objects ranging from 100¿m to 200¿m are picked and placed successfully in the experiment, and the experiment results indicate that this microgripper can realize the steady manipulation.

关键词： Micromechanical devices Grippers Electrostatics Silicon Adhesives robotics and automation Micromachining Robots Rough surfaces Surface roughness

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