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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Wei-shan Chen Ying-xiang Liu Jun-kao Liu Sheng-jun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A cylindrical ultrasonic motor using bending transducer was proposed in this paper. The stator components of proposed motor contain a cylinder and four bending transducers, and the four uniform bending transducers are set on the exterior surface of cylinder. The bending of transducers is excited by the longitudinal vibration of PZT ceramics. The four transducers are excited with two different groups of signal, and two bending vibrations are generated on the cylinder. When the amplitude of two bending vibrations is equal, and their phase difference on time and space is pi/2, a traveling wave is formed on the cylinder. Thus, an elliptical motion is achieved at the particle on the tooth. And the frictional force between rotor and stator is the driving force to realize the rotation motion of rotor. The PZT ceramics work with d33 mode, which have high electromechanical coupling efficiency and could improve the output characteristics. The working principle of proposed motor was analyzed. The cylinder and transducers were designed with FEM. The sensitive parameters of resonance frequency of transducer and cylinder were gained with modal analysis. The bending resonance frequency of transducers and cylinder were degenerated, and the motion trajectories of nodes on the teeth were analyzed. The result of transient analysis shows that the trajectory of node on the tooth is nearly an ellipse. The results of this paper could be useful in the development of this new type of motor.

关键词： Ultrasonic transducers Engine cylinders Teeth Stators Ceramics Rotors Resonance Resonant frequency Signal generators Space exploration

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Design of a six legged wall-climbing robot

Design of a six legged wall-climbing robot

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Wei Guo Ming Zhong Man-tian Li Yang Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A new type of six legged wall-climbing robot with modular joints for the anti-terrorist field is proposed in this paper. It can move quickly and quietly with help of passive joints on its ankle and a silent vacuum generator. Design of the mobile system is first described. Then the analyses of the torque on each joint and the structure design of them, as well as the vacuum producer are presented in detail. Finally, the kinematics model of robot is also established.

关键词： Robots Joints Legged locomotion Robot sensing systems Vacuum systems Mobile communication Climbing robots

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Interactive rehabilitation exercise control strategy for 5-DOF upper limb rehabilitation arm

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Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering 2008年第9期44卷 169-176页

作者： Li, Qingling Kong, Minxiu Du, Zhijiang Sun, Lining Wang, Dongyan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China The Second Affiliated Hospital Heilongjiang University of Chinese Medicine Harbin 150040 China

A 5-DOF exoskeletal rehabilitation arm for hemiplegic upper limbs is developed with passive and active interactive exercise control strategy. In passive exercise, surface electromyogram (sEMG) of hemiplegic patients' healthy limbs are extracted to control the arm because they are impaired unilaterally in general. AR model and BP neural network are used to understand the patient's motion intention in order to actuate the arm. Then, it can assist disabled arm to implement preprogrammed motions. In active exercise, the torque of each joint is used to estimate the force caused by limbs' movement in real-time. Terminal velocity is controlled with proportional controller and Jacobian inverse matrix to drive each joint. Test results prove the correctness and effectiveness of the proposed method.

关键词： Neural networks

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Research on the Reconfigurable Image Processing system

Research on the Reconfigurable Image Processing System

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International Symposium on Intelligent Information technology Application, IITA

作者： Chang-le Li Ji-zhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In view of problems of the processing performance and system flexibility for the current image processing system, propose an image processing system using reconfigurable technology. Studying on the theory of dynamic reconfigurable technology and the feature of reconfigurable system, analyzing the existent problem at present in the image processing system, making the use feature of multi-reconfiguration for FPGA (field programmable gate array), design the reconfigurable image processing system. On the basis of research on the distribute algorithm and the theory of the reconfigurable algorithm, complete the image processing algorithm which can be time-sharing reconfiguration. Implement the LoG (Laplacian of Gaussian) operator and Sobel operator in FPGA, and verify the feasibility and flexibility of system design.

关键词： Image processing Field programmable gate arrays Control systems Reconfigurable logic Image reconstruction Intelligent robots Logic programming Information technology Laboratories Image analysis

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Design of Comprehensive High-fidelity/High-speed Virtual Simulation system for Lunar Rover

Design of Comprehensive High-fidelity/High-speed Virtual Sim...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Liang Ding Haibo Gao Zongquan Deng Peilin Song Rongqiang Liu RCAMC State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Virtual simulation is of great importance for both the research and development phase and the tele-operation phase of a lunar rover. The role and state-of-the-art of rover's simulation is introduced in the beginning. Comprehensive high-fidelity/high-speed virtual simulation system for lunar rover is designed in accordance with the developing trend. key technologies such as terramechanics and recursive dynamics are discussed and related work that have been done in RCMAC of harbin institute of technology are presented. The system can be switched between high-fidelity simulation and high-speed precision simulation to be used in both phases of a lunar rover.

关键词： Moon Mars Research and development Vehicle dynamics Aerodynamics Analytical models Laboratories Robots Kinematics Predictive models

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Tanbot: A mobile self-reconfigurable robot enhanced with embedded positioning module

Tanbot: A mobile self-reconfigurable robot enhanced with emb...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Ming Zhong Wei Guo Man-tian Li Ji-an Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper proposes a novel mobile self-reconfigurable robot called Tanbot consisting of several mobile modules. Single module is capable of simple self-reconfiguration by expanding itself. Several modules can dock together one by one to be a whole robot via sensors and cameras. An embedded navigation module is designed to enhance the position accuracy of Tanbot, and to improve the docking efficiency.

关键词： Robots Robot kinematics Cameras Tracking Strontium Sensors Shape

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Vision-Based system for Satellite On-Orbit Self-Servicing

Vision-Based System for Satellite On-Orbit Self-Servicing

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

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

ISBN: (纸本)9781424424948;9781424424955

The paper puts forward a new concept of the Satellite On-Orbit Self-Servicing using vision. In order to verify this concept, a prototype vision system has been presented by integrating vision techniques. Cooperative object recognition has been designed and implemented based on polygonal approximation. To realize real-time visual servoing control, part of recognition module has been optimized to increase process speed. Instead of time-consuming 3D pose estimation, a simple redundant feature based visual servoing method is presented. A new quantitative sensitive measure is used to select the feature points so as to minimize the joint error and increase the response speed. Finally, in a representative laboratory environment, a typical satellite servicing experiment is carried out based on shared control concept. The results of the experiment demonstrate the effectiveness of the system.

关键词： Satellites Cameras Visual servoing Robots Machine vision Jacobian matrices Sensitivity

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A novel circle detector based on sub-image point pairs

A novel circle detector based on sub-image point pairs

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International Conference on Information and Automation (ICIA)

作者： Guodong Chen Junhong Ji Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In this paper a novel circle detector that can be used in real image processing is proposed. Since the drawbacks of standard Hough transform (SHT) and other circle detection methods such as least square method require large computation and the large storage, the new method is proposed to reduce computation cost and storage requirement. First, edge image is divided into several sub-images by the properties of circle, and then point pairs are chosen from the sub-images to calculate the parameters of circles. Second a data merging method is used to process the parameters. At last, both synthetic and real images are processed with the proposed method, the experimental results show that the proposed detector is capable of detecting circle features with superior accuracy under various image conditions.

关键词： Image edge detection Noise Pixel Accuracy Detectors Robustness Artificial neural networks

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Design and analysis of a cylindrical standing wave ultrasonic motor using cantilever and sandwich type transducers

Design and analysis of a cylindrical standing wave ultrasoni...

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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Ying-xiang Liu Wei-shan Chen Jun-kao Liu Sheng-jun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A cylindrical standing wave ultrasonic motor using cantilever and sandwich type transducers was proposed in this paper. There are four pairs of cantilevers outside the cylindrical stator, and four PZT ceramics are set between each pair of cantilevers. The PZT ceramics together with a pair of cantilevers compose a longitudinal transducer. The bending mode of cylindrical stator is excited by the longitudinal vibration of PZT ceramics. Thus, linear simple harmonic motions are achieved at the particle on the teeth. And the frictional force between rotor and stator is the driving force to realize the rotational motion of rotor. The PZT ceramics work with d 33 mode, which have high electromechanical coupling efficiency and could improve the output characteristics. The working principle of proposed motor was analyzed. The cylinder and longitudinal transducer were designed with FEM. The sensitive parameters of resonant frequency of transducers and cylinder were gained with modal analysis. The longitudinal resonant frequency of transducers and bending resonant frequency of cylinder were degenerated, and the motion trajectories of nodes on the teeth were analyzed. The results of this study could be useful in the development of this new type of ultrasonic motor.

关键词： Ultrasonic transducers Ceramics Stators Engine cylinders Resonant frequency Teeth Rotors Couplings Modal analysis Motion analysis

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Modified strategy to inertia weight in PSO for searching threshold of Otsu rule

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2008年第10期16卷 1907-1912页

作者： Cheng, Wan-Sheng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

In order to searching the best threshold of Otsu rule rapidly, a modified strategy to the inertia weight in Particle Swarm Optimization (PSO) is introduced. The strategy correlates the inertia weight in PSO with the globally best position and the individual best position in particle swarm and modifies the inertial weight by the distance between the best individual position and the globally best position. With the reduction of the distance between the globally best position and the individual best position, the inertia weight of the individual particle will be reduced, vice versa. The experimental results indicate that this algorithm decreases computational work and improves average convergence rate by 21.0726% as compared with that of traditional methods. It can speed up on-line image segmentation using this method.

关键词： Image segmentation

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