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A hybrid visual servoing control of 4 DOFs space robot

A hybrid visual servoing control of 4 DOFs space robot

引用

IEEE International Conference on Mechatronics and Automation

作者： Guoliang Zhang Bin Wang Jie Wang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper presents research and development for a hybrid visual servoing control method for a newly developed space robot. The hybrid scheme consists of an eye-in-hand camera and eye-to-hand camera configuration. The first one guarantees good accuracy and the ability to explore the workspace; the second one ensures a panoramic sight of the workspace. The motivation of this paper is to take advantage of both in a cooperation scheme to makes the execution of complex tasks easier and offers higher flexibility in the presence of a dynamic scenario. Compared with other multi-camera system, both global and local vision has the capability of determining pose of target independently. Moreover, this paper also addresses suitable object recognition and pose estimation algorithm based on polygonal approximation. To realize real-time visual servoing control, part of recognition module has been optimized to increase process speed. Finally, 3D visual servoing within a dynamic look and move scheme based on estimated object pose has been carried out. Experimental results demonstrate the feasibility and the effectiveness of the proposed method.

关键词： Visual servoing Orbital robotics Robot vision systems Cameras Space technology robotics and automation Object recognition Automatic control Control systems Robot control

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Study on turning in place of a spherical robot based on stick-slip principle

Study on turning in place of a spherical robot based on stic...

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： Bo Zhao Pengfei Wang Haiyan Hu Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology.Harbin150001 China

ISBN: (纸本)9781424447749

The paper deals with the motion of turning in place of a spherical robot for military reconnaissance and unknown environment exploration developed by us. The robot belongs to a nonholonomic and under-actuated system. The robot has 3 DOF and 2 inputs. The motion of turning in place can make a spherical robot with higher dexterity and environmental adaptability. The mathematical model of the turning motion is established by theory of moment of momentum. The relationship between the motion parameters is deduced, which is the basis of motion simulation and control system. Based on the analysis of mathematical model, a stick-slip principle is proposed for turning in place of the robot which is driven by double ballast masses. The stick-slip process is divided to three stages which are interpreted in theory. The principle is verified by numerical simulation and prototype experiment. The results confirm the effectiveness of the principle. The errors between theoretical analysis and experiment are analyzed at last.

关键词： spherical robot turning in place stick-slip principle

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2D-Numerical Simulation of Flexible Oscillating Fin Mimetic Bony Fishes Fin

2D-Numerical Simulation of Flexible Oscillating Fin Mimetic ...

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： Yangwei Wang Guanrong Hang Jian Li Zhenlong Wang State Key Laboratory of Robotics and System (HIT) Harbin Heilongjiang 150001 People's Republic of Ch State Key Laboratory of Robotics and System at Harbin Institute of technology Harbin Heilongjiang 15

ISBN: (纸本)9781424447749

A controllable flexible biomimetic fin actuated by Shape Memory Alloy (SMA) was presented to imitate the flexible bending of fin rays in bony fishes. Based on the bending experiment of the biomimetic fin, the kinematics model was set up. Then a two-dimensional numerical simulation on the oscillatory biomimetic fin was performed by computational fluid dynamic to investigate the interaction with the surrounding fluid and the propulsive force production. By solving the 2D, incompressible, laminar, unsteady Navier–Stokes equations, the computational results show that the biomimetic fin generates a vortex ring after a complete period in still water which can generate a thrust force. The dynamics performance of the vortex ring is achieved and then the average propulsive force is calculated on different oscillatory frequencies and maximum bending angles to find the change character. At last, an important parameter, the Strouhal number was discussed in this paper. Different Wake pattern were observed depending on different velocities of the background flow, which decide the Strouhal number. When the 0.2

关键词： Fins vortex state (superconductivity) Strouhal number bony fish Biomimetics bend tests SEED RECOVERY Standing water Propulsion FLEXIBLE thrust Hydrodynamics

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A Ring Type Standing Wave Ultrasonic Motor Using Bending Transducer

A Ring Type Standing Wave Ultrasonic Motor Using Bending Tra...

引用

2009 IEEE 16th International Conference on Industrial Engineering and Engineering Management(IEEE第16届工业工程与工程管理国际学术会议)

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

ISBN: (纸本)9781424436712

A ring type standing wave USM using bending transducer is proposed. The transducer includes one exponential horn located on leading end,and the horn insect with the ring at tip end. The working principle of proposed motor is analyzed. The ring and transducer are designed with FEM. The bending vibration modals of ring and transducer 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 oblique lines. Results also indicate the proposed design enables the standing wave USM to operate with large vibration amplitude,which would improve the mechanical output characteristics. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： ultrasonic motor,ring type standing wave bending transducer FEM

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Working Principle and Design of a Linear Ultrasonic Motor with Rectangle-type Stator

Working Principle and Design of a Linear Ultrasonic Motor wi...

引用

2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

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

A linear ultrasonic motor with rectangletype stator is proposed in this paper. The stator of proposed motor contains four longitudinal transducers, which are located in rectangle-type. Every transducer includes two exponential shape horns located on each end. And the horns of adjacent transducers intersect at tip ends where located a driving foot. Longitudinal vibrations are superimposed in the motor and generated elliptical trajectories at the driving feet. The working principle of proposed motor is analyzed. The resonant frequencies of two working modals are degenerated by adjusting the structure parameters. The motion trajectories of nodes on the driving feet are gained by transient analysis, results indicate that the motion trajectories of nodes on the four driving feet are ellipses. The vibration amplitudes of driving feet indicate the proposed motor has potential advantage in output characteristics. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： ultrasonic motor linear rectangle -type four driving feet longitudinal-bending vibration

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An exoskeleton master hand for controlling DLR/HIT hand

An exoskeleton master hand for controlling DLR/HIT hand

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Honggen. Fang Zongwu. Xie Hong. Liu Institute of Robotics and Mechatronics German Aerospace Center Germany State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ¿four-bar mechanism joint¿ in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure with 200 ¿s cycle time is designed. The operating modes of the master hand can be contact or non-contact, which depends on the motion states of slave hand, free motion or constrained motion. The position control employed in non-contact mode ensures unconstrained motion and the force control adopted in contact mode guarantees natural contact sensation. To evaluate the performances of the master hand, an master-slave control experiment based on force-position control method between the master hand and DLR/HIT hand is conducted. The results demonstrate this new type master hand can augment telepresence.

关键词： Exoskeletons Master-slave Force control Digital signal processing Force feedback Wire Couplings Fingers Data communication Filtering theory

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Vehicle-logo Recognition Method Based on Tchebichef Moment Invariants and SVM

Vehicle-logo Recognition Method Based on Tchebichef Moment I...

引用

WRI World Congress on Software Engineering, WCSE

作者： Shijie Dai He Huang Zhangying Gao Kai Li Shumei Xiao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology TianJin China

ISBN: (纸本)9781424435661

In order to solve the problem about the recognition accuracy, Tchebichef moment invariants and support vector machine (SVM) are adopted to recognize the vehicle-logo. It extracts six invariant moments of the object as feature vectors, and then uses the support vector machines (SVM) to recognize vehicle-logo. Tchebichef moment invariants perform significantly better than Hu moment invariants and Zernike moment invariants. The result of these experiments suggests that this system has a high recognition rate in both noise-free and noisy environment which has high practical value.

关键词： Support vector machines Vehicles Noise shaping Licenses robotics and automation Working environment noise Shape Redundancy Polynomials Software engineering

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GPRS Based Guard Robot Alarm system Design

GPRS Based Guard Robot Alarm System Design

引用

International Conference on Internet Computing in Science and Engineering (ICICSE)

作者： Maohai Li Lining Sun Qingcheng Huang Zesu Cai Songhao Piao School of Computer Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robots in an integrated and highly portable manner, particularly in recent years the GPRS network provides wireless access of internet for mobile phone which becomes the most important and common terminal equipment. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, and add man-made intervention to the system, thus achieves a more convenient and reliable alarm system. The system mainly consists of two parts: detection of abnormal and dangerous situation in domestic environment and sending the alarm information as MMS form to the user's phone via GPRS networks. Finally experiments show that the alarm system can accurately send alarm information to the user's mobile phone. The system is low-cost, flexible, reliable, and can be widely used.

关键词： Ground penetrating radar Alarm systems Intelligent robots Orbital robotics Intelligent sensors Mobile handsets robotics and automation GSM Mobile robots Robot sensing systems

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Path Planning for Mobile Robot Based on Rough Set Genetic Algorithm

Path Planning for Mobile Robot Based on Rough Set Genetic Al...

引用

International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Shijie Dai He Huang Fang Wu Shumei Xiao Ting Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-making table of the robot is obtained, which can be simplified by the rough set theory to extract the minimal decision-making rules. We use these rules to train the initial population of the genetic algorithm (GA), and then solve the best path using GA. At last, the simulations are performed and contrasted under multi-group test conditions to the initial population of GA simplified by rough sets and generated randomly respectively, the results of which suggest that the effect of this suggested RSGA is significant at optimizing the robot path planning speed, especially in the complicated environments.

关键词： Path planning Mobile robots Genetic algorithms robotics and automation Set theory Intelligent networks Intelligent robots Decision making Rough sets Orbital robotics

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An exoskeleton force feedback master finger distinguishing contact and non-contact mode

An exoskeleton force feedback master finger distinguishing c...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Honggen Fang Zongwu Xie Hong Liu Tian Lan Jinjun Xia State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator's finger. Secondly, the master finger can distinguish the contact and non-contact mode. The two modes enable free motion and natural contact sensation between operator and master finger respectively. Thirdly, the master finger can exert forces in the direction of extension and flexion because it can make active motion in the two directions. In order to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure is proposed to control the master finger. The kernel of the hardware system consists of a peripheral component interface (PCI)-based DSP/FPGA board configured as high-level and a FPGA board configured as low-level. By utilizing low-voltage differential signaling (LVDS) serial data bus and PCI bus, the high-level can communicate with the low-level and PC. Using the principle of Virtual work, the relationship between driving torque and the force acting at the tip of master finger is acquired and validated by an experiment conducted to the operation of master finger and DLR/HIT dexterous finger. Experimental results also demonstrate that the master finger can augment telepresence.

关键词： Exoskeletons Force feedback Fingers Digital signal processing Field programmable gate arrays Master-slave Data communication Filtering theory Delay Kernel

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