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Self-Propulsion: Superfast Near-Infrared Light-Driven Polymer Multilayer Rockets (Small 5/2016)

Small 2016年第5期12卷

作者： Zhiguang Wu Tieyan Si Wei Gao Xiankun Lin Joseph Wang Qiang He State Key Laboratory of Robotics and System (HIT) Micro/Nanotechnology Research Center Harbin Institute of Technology Harbin 150080 China Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 USA

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Study on linear vibration model of shield TBM cutterhead driving system

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International Journal of Acoustics and Vibrations 2014年第2期19卷 89-106页

作者： Li, Xianhong Yu, Haibin Zeng, Peng Yuan, Mingzhe Han, Jianda Sun, Lanxiang Key Laboratory of Industrial Control Network and System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China

In this paper, a general linear time-varying multiple-axis (LTVMA) vibration model of shield tunnel boring machine (TBM) cutterhead driving system is established. The corresponding multiple inputs and multiple outputs (MIMO) state-space model is also presented. The linear vibration model is analysed, and the vibration-torque transfer function matrix and the vibration-torque static gain matrix are obtained. The linear vibration model is simulated, and the physical parameters' effects on the vibration response are investigated. A preliminary approach is proposed to reduce vibration by increasing motor rotor inertia and viscous damped. The LTVMA vibration model provides a solid foundation for fault detection and diagnosis (FDD), as long as the health monitoring of cutterhead driving system.

关键词： Fault detection

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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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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Modeling and analysis of synchronized scanning triangulation

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2015年第2期26卷 295-302页

作者： Zhang, Xu Fei, Kai Tu, Da-Wei School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai China

Synchronized scanning triangulation inserts the scanning mirrors in the projected light path and the received light path, thus the changed angles for the projected light and the received light are the same when the scanning mirrors are rotated. This synchronized scanning mechanism expands the measurement field and is adopted in the large distance measurement. In the model of traditional synchronized scanning triangulation measurement system, the thickness of rotated mirror is assumed to be zero and the trajectory of the 3D scanning point is modeled as a circle. However, this simplified assumption deteriorates the precision of the system. In this paper, the thickness of the rotated mirror besidesf other geometry parameters is considered. The 3D measured point is established with the 14 parameters, which describe the position and pose of different parts. Through the simulation, we find that the system's error could achieve 200 mm, when the thickness of the rotating mirror is 1 mm. This error can not be omitted for measuring general objects. In addition, the model's 3D point for the same pixel position is a circle with the moving center instead of a constant position. This model describes the trajectory more precisely than traditional model. Finally, the prototype system is designed and the experimental results show that the method is feasible. ©, 2015, Board of Optronics Lasers. All right reserved.

关键词： Scanning

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Nonlinear force distribution for multi-finger robot hand using impedance control based on EtherCAT

Nonlinear force distribution for multi-finger robot hand usi...

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International Conference on Machine Tool Technology and Mechatronics Engineering, ICMTTME 2014

作者： Hou, Ming Xin Jiang, Li Chen, Zhao Peng School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

ISBN: (纸本)9783038352464

A novel strategy of online force distribution for multi-finger robot hand is developed based on impedance control. The real-time controller system including the finger dynamics and multi-fingers constraints is considered as a nonlinear system. Because when the robot hand grasps the object, the fingertip force is usually changed which could cause the grasp unstable. Our method gains the ability to deal with online grasping force distribution and can satisfy the real-time requirements at the same time. Experiment shows that our method provides the most feasible grasp configurations in real-time performance. © (2014) Trans Tech Publications, Switzerland.

关键词： Robotic arms

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Coaxial adjustment in PMF alignments

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2014年第1期22卷 125-131页

作者： Zhang, Wei Wang, Le-Feng Rong, Wei-Bin Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

When polarization axes of Polarization Maintaining Fibers (PMF) are detected by micro-vision methods in PMF alignment, the rotation axes of fibers must be in the focal plane of the microscope. Therefore, a coaxial adjustment system was designed to adjust the relative position of the fiber to a motorized rotation stage. The distance between the fiber core and the center of rotation stage was detected by the micro-vision and the precise motion of motorized linear stage, and then, based on the image information, the two-dimensional manual linear stages were used to perform the adjustment. After the adjustment, the coaxial error was computed theoretically. Based on the micro-vision, an adjustment system was designed for the experiments. The Cartesian coordinate system was established by taking the center of the motorized rotary stage as the origin. Then, the equation of the straight line of the fiber center and its intercept were obtained by image processing and the least square method, further the distance between fiber center and rotary stage was determined. Moreover, the gray-scale difference function based on image threshold was taken as a sharpness function, and the influence of white noise was effectively eliminated. Experimental results show that the coaxial error between the fiber and the rotary stage is 3 μm after adjustment, which proves that the system can be applied to the detection of the optical fiber polarization axis.

关键词： Image processing

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A computational model for data acquisition in SAXS 14

A computational model for data acquisition in SAXS

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5th ACM Conference on Bioinformatics, Computational Biology, and Health Informatics, ACM BCB 2014

作者： Dong, Hui Chirikjian, Gregory S. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States

ISBN: (纸本)9781450328944

Small-angle x-ray scattering (SAXS) is an experimental biophysical method used for gaining insight into the structure of large biomolecular complexes. Under appropriate chemical conditions, the information obtained from a SAXS experiment can be equated to the pair distribution function, which is the distribution of distances between every pair of points in the complex. Here we develop a mathematical model to calculate the pair distribution function for a structure composed of several rigid components. We show that integrals of products of three spherical-Bessel functions arise naturally in this context. We then develop an algorithm for the efficient recursive computation of these integrals. Efficient and accurate models that relate the data acquisition process to the underlying structure are of interest because iterating such models provides a computational framework in which to solve the inverse problem of determining how constituent parts in a large structure should be assembled so as to be consistent with the experimental data. Copyright © 2014 ACM.

关键词： Data acquisition

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Resolution and precision measurement of a three dimension force sensor based on piezoresistive conductive ink

Resolution and precision measurement of a three dimension fo...

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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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Research on 3D reconstruction for robot based on SIFT feature

Research on 3D reconstruction for robot based on SIFT featur...

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2014 IEEE Workshop on Advanced Research and Technology in Industry Applications, WARTIA 2014

作者： Zhong, Qiubo Jie, Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Ningbo University of Technology Harbin China

ISBN: (纸本)9781479969890

On the basis of only visual and odometer, a robust perception model is established to extract environmental features through effective fixed scale feature-transformation method, and updated feature by unscented Kalman filtering. The scale invariant feature transform (SIFT) is studied for 3D reconstruction, and a fast feature matching algorithm based on SIFT is proposed. A map representation method using SIFT features is also propounded, which is more convenient for environment recognition, robot localization and makes the data association map building much easier as well than the maps using simple features such as Harris corners and edges. The results of experiment show that this method can improve the success rate and precision of robot localization. © 2014 IEEE.

关键词： Image reconstruction

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