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仿生工程学报(英文版) 2010年第1期7卷 112-112页

作者： Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Dear readers,In the paper "An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals", Journal of Bionic Engineering, 2009, 6, 255-263, by Dapeng Yang et al., we adopted an experi-mental method already developed by the DLR (German Aerospace Center). Unfortunately, we did not cite their main works properly at that time. We sincerely apologize for this mistake to Dr. Cas'tellini, Dr. van der Smagt and other coauthors.

关键词： Center works Robot paper Based main Hand van EMG der Cas

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Trajectory tracking and point stabilization of noholonomic mobile robot

Trajectory tracking and point stabilization of noholonomic m...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zhengcai Cao Yingtao Zhao Shuguo Wang College of Information Science and Technology Beijing University of Chemical and Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

In this paper, a mixed controller for solving the trajectory tracking and point stabilization problems of a mobile robot is presented, applying the integration of backstepping technique and neural dynamics. By introducing a virtual target point, the whole motion process is divided into two parts. The first one is employed to realize tracking control and the other one is adopted to implement point stabilization. Each part produces a feedback control law by using backstepping technique. Moreover, to solve the speed and torque jump problems and make the controller generate smooth and continuous signal when controllers switch, the neural dynamics model is integrated into the backstepping. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.

关键词： Mobile robots Trajectory Target tracking Robot kinematics Angular velocity

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Software implementation of bar tacker control system

Software implementation of bar tacker control system

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GCIS, WRI Global Congress on Intelligent systems

作者： Cui Ma Xiaohui Xie Qiang Sun R. Du Shenzhen Institutes of Advanced Technology Chinese Academy and Sciences Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of technology Harbin Heilongjiang China Chinese University of Hong Kong Hong Kong China

This paper presents a multi-axis control system of bar tacker. A bar tacker must meet the following requirements: feeding accurately, cutting automatically, needle stopping precisely and quickly, et ac. In order to achieve these functions, multi-thread synchronization control was introduced to ensure the multi-axis collaborative motion. And time-based PI method with velocity feed-forward was used to control the needle stop position. The software of this control system was programmed based on embedded Windows platform. At present this control system has been tested in the factory and the test results show that this method can accurately control the multi-axis motion and produce good sewing patterns. Besides lockstitch bar tacker, this control system can also be applied to other intelligent sewing machines by minor changes and improvement.

关键词： Servomotors Needles Position control Instruction sets Pi control Collaboration

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Observer-Based Dynamic Control of an Underactuated Hand

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Advanced robotics 2010年第1期24卷 123-137页

作者： Huang Hai haihus@*** Jiang Li Pang Yong-jie Shi Shi-cai Tang Qi-rong Yang Da-peng Liu Hong Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 P. R. China University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The purpose of this paper was to construct a velocity observer based on the dynamic model and realize accurate dynamic curve and force control. Curve fitting with the observer obtained precise velocity signals. Compared with PID and factored moment methods, it decreased the fitting errors a lot and achieved ideal results. Compensated with the inverse dynamic equation, the force-based impedance control with the observer could not only realize accurate force tracking, but achieve finger dynamic control by the combination of curve fitting and force tracking. Furthermore, a static grasp model was established for appropriate force distribution. The finger could grasp slippery, fragile, comparatively heavy and large objects like an egg with only base joint torque and position sensors, which illustrated that the hand could accomplish difficult tasks by using the static grasp model and dynamic control. [ABSTRACT FROM AUTHOR]

关键词： curve fitting DYNAMIC CONTROL force control UNDERACTUATED VELOCITY OBSERVER

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Simulation and test of backscattering from nonspherical soot particles swarm using laser

Simulation and test of backscattering from nonspherical soot...

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Russian-Chinese Symposium on Laser Physics and Laser Technologies (RCSLPLT) and Academic Symposium on Optoelectronics technology (ASOT)

作者： Xing Jian Zhao Jiaqun Liu Yang Sun Xiaogang Insititute of Automatic Detecting and Process Control System Harbin Institute of Technology Harbin China State Key Laboratory of Tunable Laser Technology Harbin Institute of Technology Harbin China College of Science Harbin Engineering University Harbin China

When the backscattering method is adopted to test the concentration and the size of soot, it's very important to analyze the backscattering characteristics of soot to determine the optimal light source, detector and detection angle. In this paper, the backscattering characteristics of nonspherical soot particles swarm are investigated. The size and shape of soot particles are determined by microscopic measurement. According to the micrograph, both Ellipsoid model and generalized Chebyshev models are selected to imitate soot particles. With the Monte-Carlo method, a random oriented particles swarm is created, and backscattering relative intensity is calculated by T-matrix method with different parameters. A simple backscattering test system was established, in which the light source and detector are selected based on the calculation results. The numerical and experimental results show that the combination of the Monte-Carlo method and the T-matrix calculation can be successfully applied to simulate the backscattering of the nonspherical particles swarm, and the experimental system has higher backscattering intensity according to simulation result. It provides a reference for improving the measurement accuracy of particles size and concentration.

关键词： Backscatter Scattering Particle measurements Atmospheric measurements Detectors Light sources Simulation

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An interventional treatment plan system design on liver tumor

An interventional treatment plan system design on liver tumo...

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International Conference on Image Analysis and Signal Processing, IASP

作者： Xie Xiaohui Zhang Lei Yu Xiaofang Du Ruxu Shenzhen Institute of Advanced Integration Technology Chinese University of Hong Kong Shenzhen Hong Kong China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Science and Technology Harbin China ShenZhen People's Hospital Shenzhen China

Interventional treatment becomes increasingly popular since this technique means substantially less trauma for the patient. By using VTK and ITK to build a plan system, the treatment can be high efficiency. VTK is responsible for visualization, while ITK takes care of the image segmentation and registration. By combining VTK and ITK, and using Qt as the user interface, an interventional treatment plan system is built. This system has finished several mainly functions, like DICOM data displaying in multi-planar reformation, manual segmentation, semi-automatic segmentation, surface rendering using marching cubes algorithm, volume rendering using volume ray casting algorithm. Also an interventional treatment plan system has been developed based on the medical inspection.

关键词： Liver neoplasms Image segmentation Medical treatment Rendering (computer graphics) Data visualization User interfaces DICOM Surface finishing Surface treatment Casting

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Multiple-Pursuer Cooperative Multiple-Evader Games based on auction mechanism

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harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2010年第SUPPL. 2期42卷 160-164页

作者： Cai, Ze-Su Hong, Bing-Rong Sun, Li-Ning State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

This paper mainly discusses Multiple-Pursuer Cooperative Multiple-Evader Games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional Contract Net protocol is extended, including the motivational vector of robot, the trust degree and the acquaintance degree to improve the alliance decision. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on auction was proposed in this paper. It allocated task dynamically through capability classification and independent competition. It can support the dynamically changing capability of each agent and reduce the cost of communication and the difficulty of acquiring knowledge. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multipurpose robots

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Design of a control system for a macro-micro dual-drive high acceleration high precision positioning stage for IC packaging

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Science China(Technological Sciences) 2009年第7期52卷 1858-1865页

作者： LIU YanJie LI Teng SUN LiNing State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.

关键词： macro-micro dual-drive positioning stage control system friction LQG

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Capillary Forces between Submillimeter Spheres and Flat Surfaces at Constant Liquid Volumes

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Chinese Physics Letters 2009年第12期26卷 198-201页

作者：王乐锋荣伟彬孙立宁陈立国邵兵 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

We investigate the capillary forces between submillimeter spheres and flat surfaces at constant liquid volumes theoretically and experimentally. An iterative method is used to estimate the capillary force with contact angles as the boundary conditions and the constant volume as a constraint. The theoretical analysis shows that the maximum capillary force between them decreases with the increase of the liquid bridge volume at small contact angles. The experimental results show that the force is smaller than the theoretical values at the initial separation distances. It is also observed that the force first increases and then decreases with an increasing separation distance in some cases. These phenomena of capillary forces hysteresis are explained according to the wetting hysteresis.

关键词： Soft matter liquids and polymers Surfaces interfaces and thin films

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Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

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Journal of harbin institute of technology(New Series) 2009年第3期16卷 376-381页

作者：刘伊威赵京东金明河刘宏 State Key Laboratory of Robotics and System Harbin Institute of Technology

With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.

关键词： robotic hand sensors mechatronic integration

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