检索结果-内蒙古大学图书馆

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

来源：评论

学校读者我要写书评

暂无评论

Study on a novel 6-DOF combinational parallel manipulator

Study on a novel 6-DOF combinational parallel manipulator

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Fast and accurate humanoid robot navigation guided by stereovision

Fast and accurate humanoid robot navigation guided by stereo...

引用

IEEE International Conference on Mechatronics and Automation

作者： Chen Guodong Ming Xie Zeyang Xia Lining Sun Junhong Ji Zhijiang Du Wang Lei State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore School of mechanical and aeroSpace engineering Nanyang Technological University Singapore Harbin Institute of Technology China

Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every step in the whole vision information processing process plays an important role in getting high precision. Less time consuming can make the robot adapt to the changes of environment quickly, especially in dynamic environment. In this paper, two humanoid robot common tasks are chosen as experiments to verify the effectiveness of the proposed methods. Stair climbing experiment verifies the high precision in long distances and also by using the image information to compensate the progressive error caused by long distance walking and moving object grasping experiment verifies the less time consuming.

关键词： Humanoid robots Navigation Feedback Robot vision systems Cameras Calibration Image processing Information processing Robot kinematics Legged locomotion

来源：评论

学校读者我要写书评

暂无评论

Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control

Flexible FPGA-Based Controller Architecture for Five-fingere...

引用

2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Z.P. Chen N.Y. Lii K. Wu H. Liu Z.X. Xue S.W. Fan M.H.Jin Y.W. Liu T. Lan Institute of Robotics and Mechatronics German Aerospace CenterDLR 82234 WesslingGermany Forschungszentrum Informatik (FZI) Haid-und-Neu-Str.10-14 76137 Karlsruhe Germany State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781424447749

Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture based controller, one of which is used for data communication control and the other for joint and object level control. High speed (200μs cycle time) multipoint low-voltage differential signaling (LVDS) serial data bus communication between each finger and the controller, Ethernet communication between monitor PC and controller, are all implemented on a single FPGA chip. Experimental results and simulation with a five-figered dexterous robot hand demonstrate that the controller architecture is able to achieve the desired robot hand impedance control performance and effective stable grasping.

关键词： dexterous hand FPGA flexible communication system impedance control grasping

来源：评论

学校读者我要写书评

暂无评论

Capillary Interactions between a Probe Tip and a Nanoparticle

引用

Chinese Physics Letters 2008年第5期25卷 1795-1798页

作者：孙立宁王乐锋荣伟彬 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

To understand capillary interactions between probe tips and nanoparticles under ambient conditions, a theoretical model of capillary forces between them is developed based on the geometric relations. It is found that the contribution of surface tension force to the total capillary force attains to similar order of magnitude as the capillary pressure force in many cases. It is also shown that the tip shape and the radial distance of the meniscus have great influence on the capillary force. The capillary force decreases with the increasing separation distances, and the variance of the contact angles may change the magnitudes of capillary forces several times at large radial distances. The applicability of the symmetric meniscus approximation is discussed.

关键词： ATOMIC-FORCE MICROSCOPE SURFACE NANOMANIPULATION STICTION MEMS

来源：评论

学校读者我要写书评

暂无评论

Simultaneous localization and mapping for mobile robot based on an improved particle filter algorithm

Simultaneous localization and mapping for mobile robot based...

引用

IEEE International Conference on Mechatronics and Automation

作者： Zhong Min Wang De Hua Miao Zhi Jiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Tianjin University of Technology and Education Tianjin China College of Mechanical Engineering Tianjin University of Technology and Education 300222 China

Simultaneous localization and mapping (SLAM) is an important topic in the autonomous mobile robot research. An improved Rao-Blackwellised particle filter (IRBPF) algorithm is proposed for the mobile robot to SLAM, which can simultaneously localize the robot and build up the map in the structured indoor environment. Firstly, IRBPF respectively uses particle filters (PF) to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, an adaptive re-sampling technique is used to reduce the times of re-sampling so as to maintain a reasonable speed of samples, thus it reduce the risk of sample depletion. Finally, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experiment results indicate that the IRBPF algorithm builds the consistent map and modified the precision and real-time performance of localization and mapping, the SLAM results show the efficiency of this IRBPF algorithm.

关键词： Simultaneous localization and mapping Mobile robots Particle filters state estimation Frequency estimation Mechatronics robotics and automation Laboratories Indoor environments Probability distribution

来源：评论

学校读者我要写书评

暂无评论

Research on the mechanics of the HIT/DLR Hand II anthropomorphic five-finger dexterous hand

引用

Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 2009年第2期30卷 171-177页

作者： Fan, Shao-Wei Liu, Yi-Wei Jin, Ming-He Lan, Tian Chen, Zhao-Peng Liu, Hong Zhao, Da-Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China German Aerospace Center Institute of Robotics and Mechatronic Munich 82230 Germany College of Automation Harbin Engineering University Harbin 150001 China

A new anthropomorphic robot with a five-finger dexterous hand-named HIT/DLR Hand II-was developed to make hand appearance and structural functions more anthropomorphic. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degrees of freedom (DOF) and four joints. To meet the mechatronic idea, all actuators, drivers, and electronics were integrated in the fingers and the palm. By using a steel coupling mechanism, the distal phalanx transmission ratio was kept exactly 1:1 over the whole movement range. The packing mechanism which was implemented in the fingers and palm not only reduces the size of whole hand but also makes it more anthropomorphic. The finger size is about one third of the former finger in this innovative design. In additional, the newly designed force/torque and position sensors are well integrated with the hand. It was verified by experiments that the dexterous hand not only met design goals, but also exhibits great grasping capacity.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Configuration information acquisition and matching in self-reconfiguring process of modular self-reconfigurable robots

引用

高技术通讯（英文版） 2008年第4期14卷 411-417页

作者： Ren Zongwei Zang Xizhe Zhu Yanhe Zhang Yuhua Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Configuration information acquisition and matching are two important steps in the self-reconfiguring process of self-reconfigurable robots. The process of configuration information acquisition was introduced, and a self-reconfiguring configuration matching strategy based on graded optimization mechanism was proposed. The first-grade optimization was to search common connection between matching scheme and goal configuration. The second-grade optimization, whose object function was constructed in terms of configuration connectivity, was to search common topology according to the results of the first-grade optimization. The entire process of configuration information acquisition and matching was verified by an experiment and genetic algorithm (GA). The result shows the accuracy of the configuration information acquisition and the effectiveness of the configuration matching method.

关键词： self-reconfigurable robot genetic algorithm (GA) information acquisition configuration matching graded optimization

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：