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2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

作者： Shiguang Wen Hao Wang Yuzhong Zhang Fei Wang Chengdong Wu College of Information Science and Engineering Northeastern UniversityShenyang 110004 College of Information Science and Engineering Northeastern UniversityShenyang 110004 State Key Lab State Key Laboratory of Robotics and System (HIT) Harbin 150080

The effective de-noising of gait kinematic signals is the prerequisite and guarantee for correct recognition and diagnose. Traditional Fourier Transform and Wavelet Analysis can introduce the additional disturbance during de-noising process named Pseudo-Gibbs phenomenon. In this paper, translation invariance wavelet de-noising method is proposed to process the kinematics information acquired from inertial sensors mounted on the lower limb of human. This way, Pseudo-Gibbs phenomenon was inhibited effectively and high precision classification of human lower limb motion pattern was achieved by combining the propose de-noising method with radial-based function (RBF) neural network. Experimental results demonstrated the effectiveness and correctness of the proposed system.

关键词： Translation Invariance wavelet analysis RBF neural network lower limb motion pattern classification

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Humanoid detection of indoor dangerous gas source by mobile robot

Humanoid detection of indoor dangerous gas source by mobile ...

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IEEE International Conference on Automation and Logistics

作者： Fujun He Yingfei Sun Xiaolei liu Zhijiang Du Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching.

关键词： Mobile robots Robot sensing systems Gas detectors robotics and automation Helium Indoor environments Robot vision systems Fuzzy systems Fuzzy logic Sensor phenomena and characterization

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Working principle and design of a ring type traveling wave ultrasonic motor using composite transducer

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 200-204页

作者： Liu, Yingxiang Liu, Junkao Chen, Weishan Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A ring type traveling wave ultrasonic motor using composite transducer is proposed. The transducer includes one exponential horn located on leading end, and the horn insect with the ring at tip end. Two degenerate flexural vibration modes spatially and temporally orthogonal to each other in the ring are excited by the transducer. The working principle of proposed motor is analyzed. The stator is designed with FEM. The two vibration modals of stator are degenerated. Transient analysis is developed to gain the vibration characteristics of stator, and results indicate that the motion trajectories of nodes on the teeth are nearly ellipses. Results also indicate the proposed design enables the motor to operate with large vibration amplitude. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： Stators

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Study of digital control system for seismic simulation test rig

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 342-346页

作者： Cong, Dacheng He, Jingfeng Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The digital control system of a seismic simulation test rig was developed for earthquake waveform replication. The control system was implemented by the two-level distributed network which increases the stability, reliability and safety of the system. The three control variables method (displacement velocity and acceleration) broad the frequency range of the test rig. Accurate waveform replication was realized by vibration control technique based on system identification and iterative algorithm. The experimental results show that the correlation coefficient between the response and the reference was greater than 0.9 after two to three times system identification and iterative control.

关键词： Digital control systems

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Visual tracking strategy based on fuzzy multi visual cue integration

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2009年第8期43卷 33-37页

作者： Zhang, Guoliang Xie, Zongwu Jiang, Zainan Wang, Jie Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

To improve the adaptability of visual tracking system for various circumstances in space, a visual tracking strategy based on fuzzy multi visual cue integration is proposed, which synthesizes multi visual cue together to represent the features of object. The recognition of object is intelligentized by integration of each fuzzy cue. To deal with the effects of noise on segmentation threshold of moving object, a new region-based segmentation is chosen to realize stable clustering of moving region by integrating population statistics and region growing. Compared with conventional local feature recognition, this strategy is adaptive to complex and dynamic circumstances. Redundant information complements each other for ensuring feature recognition and tracking in uncertain environment. Experimental results demonstrate the robust feature recognition and tracking with this strategy, especially in part occlusion and unstable lighting.

关键词： Population statistics

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Path planning method for free-floating space robot in Cartesian space

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Jiqiren/Robot 2009年第2期31卷 187-192页

作者： Zhang, Fu-Hai Fu, Yi-Li Wang, Shu-Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

In order to ensure spacecraft attitude stability for the operational free floating space robot (FFSR), a nonholonomic path planning method with zero-disturbance spacecraft attitude in Cartesian space is presented for the FFSR. Firstly, based on the characteristic equation and angular momentum conservation equation of the FFSR, the generalized Jacobian matrix is obtained. Secondly, in order to meet the need of path planning, the reachable workspace of FFSR with zero-disturbance spacecraft attitude is analyzed. Finally, with the introduction of correlative coefficient, the zero-disturbance vector synthesis algorithm in Cartesian space is designed. Simulation results of path planning show that the manipulator end-effector can reach the desired point and the spacecraft attitude is of zero-disturbance simultaneously. Therefore, the feasibility and validity of the presented method are verified.

关键词： Motion planning

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The research on a novel PZT actuated precise tilt positioning system

The research on a novel PZT actuated precise tilt positionin...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Bing Shao Liguo Chen Weibin Rong Min Xu Changhai Ru School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Automation College Harbin Engineering University China

The need for precise fast positioning technique draws attention on space inter-satellite optical communication. This paper presents a novel PZT actuated precise tilt positioning system (PTPS), which consists of the control module, the PZT driving module, the precise tilt positioning mechanism (PTPM), and the precise displacement measure module. It provides a fast and precise control in tilt movements. Firstly, the structure analysis and design of PTPM are accomplished. Then the control module is developed and the current/ voltage composite driving method is investigated in detail. Finally, following the experimental results which confirm the validity of the design and theoretical analysis of the PFPS.

关键词： Actuators Communication system control Materials science and technology Space technology Voltage Microwave communication robotics and automation Optical fiber communication Control systems Position measurement

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Study on a novel 6-DOF combinational parallel manipulator

Study on a novel 6-DOF combinational parallel manipulator

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IEEE International Conference on robotics and Biomimetics

作者： Wei Zhao Bing Li Hongjian Yu Ying Hu State Key Laboratory of Robotics and System Harbin Institute of Technology Shenzhen China Harbin Institute of Technology Harbin Heilongjiang CN Cognitive Technologies Laboratory Shenzhen Institute of Advanced Technology Chinese Academy and Sciences Shenzhen China

A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different configuration requirements, the two reconfigurable structures are presented based on the presented 6-DOF parallel mechanism. The work provides basis for the development of the novel robotic manipulator.

关键词： Manipulators Fasteners Kinematics Parallel robots Fixtures Jacobian matrices Biomimetics Equations Interference Cognitive robotics

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Binaural Sound Localization Based on Detection of Multi-band Zero-Crossing Points

Binaural Sound Localization Based on Detection of Multi-band...

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International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Cong-qing Li Shi-jie Dai Fang Wu He Huang Li-xin Sun Li-ying Sun School of Mechanical Engineering Hebei University of Technology Tianjin China Tianjin Institute of Urban Construction Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

A method of binaural sound localization based on detection of multi-band zero-crossing points generated from binaural filter-band outputs is presented. In the presented method, the ITD values are estimated by a histogram weighted by the estimated source noise rate(SNR) computed from the variances of ITD samples. As a result, the method provides an accurate estimate of sound source direction and is more robust to noise. To verify the validity of the method, simulations for sound localization are performed under the condition of white noise. The simulation results show that the method is able to provide an accurate estimate of sound source direction and is more robust to noise while offering significantly less computational complexity compared to the conventional cross-correlation based methods.

关键词： Acoustic noise Noise robustness Signal to noise ratio Computational complexity Working environment noise Frequency Intelligent networks Computational modeling Sun Humans

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A Novel Method of Binaural Sound Localization Based on Dominant Frequency Separation

A Novel Method of Binaural Sound Localization Based on Domin...

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Congress on Image and Signal Processing, CISP

作者： Cong-qing Li Fang Wu Shi-jie Dai Li-xin Sun He Huang Li-ying Sun School of Mechanical Engineering Hebei University of Technology Tianjin China Tianjin Institute of Urban Construction Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

A novel method of binaural sound localization based on the dominant frequency separation is proposed. In this method, the ITD values is estimated by using the property for sound signals to keep their dominant frequency components unchanged in the frequency domain. To verify the validity of the suggested method, the test of the dominant frequency separation is made. Firstly, in frequency domain, the separation of the mixed signal of two signals is made by applying this method and the separated result is satisfactory. Secondly, the test of single sound source localization and that of two simultaneous sound sources localization are performed respectively under our test condition. The experimental results show that the proposed method is able to provide a valid estimation of sound source directions and offer less computational complexity.

关键词： Frequency domain analysis Acoustic testing Computational complexity Microphones Frequency estimation Performance evaluation Sun Laboratories Robots Fast Fourier transforms

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