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International Conference on Unmanned Aircraft systems

作者： Xin Qi Didier Theilliol Juntong Qi Youmin Zhang Ling Wang Jianda Han State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) CRAN UMR 7039 CNRS University of Lorraine Faculte des Sciences et Techniques Department of Mechanical and Industrial Engineering Concordia Institute of Aerospace Design and Innovation (CIADI)Concordia University State Grid Liaoning Electric Power Company Limited Benxi Electric Power Supply Company

ISBN: (纸本)9781479923779

A self healing (SH) control framework is proposed in this paper against actuator stuck faults. For unmanned helicopters (UHs), the framework is composed by an active fault-tolerant control (FTC) system and reference redesign. The FTC system is based on linear-quadratic regulator (LQR) and pseudo inverse technique, which can compensate stuck faults of the post-fault system with output analytical redundancy (OAR) feature. The post-fault system may not achieve the original reference because remaining actuators' margin will degrade after stuck-fault compensation. A new reference is necessary for the post-fault system, which can be achieved by reference redesign method based on solving an optimal problem. At last the proposed SH framework is illustrated with a linear unmanned helicopter model, which includes rotor-speed control input and swashplate configuration.

关键词： Fault systems drone helicopters Stuck at faults Prunella vulgaris actuators linear quadratic regulators faults Coviracil Control Methods Redesign

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The optimization of obstacle-crossing and the simulation in ADAMS of the composite six-wheeled-legged robot

The optimization of obstacle-crossing and the simulation in ...

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2012 9th International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2012

作者： Wang, Weidong Wu, Dongmei Dong, Wei Xie, Chun Sun, Pengfei State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467300223

This paper establishes the spatial kinematic model of the composite six-wheeled-legged robot according to its spatial motion, and simplifies the special motion postures so as to do the motion planning [1]. Furthermore, taking the slope obstacle as a typical example, it makes the analysis for the postures in the process of crossing the obstacle and optimizes the key postures in order to improve its obstacle negotiation capability to the safest and steadiest level. Then the analysis and optimization are verified by the simulation of the robot's obstacle-crossing motion for the vertical obstacle, the ditch obstacle and the slope obstacle. © 2012 IEEE.

关键词： Motion planning

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Global and Local Path Planning of MicroIV for Traffic Flow Modeling and Simulation

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IFAC Proceedings Volumes 2013年第13期46卷 502-507页

作者： Lindong GUO Ming YANG Zhengchen LU Bing WANG Chunxiang WANG Department of automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

This paper focuses on the research of global and local path planning in complex traffic flow simulation using Micro Intelligent Vehicles (MicroIV). Firstly, a global path planning approach with time division based hierarchical topology maps is proposed to achieve a legal optimal path with the consideration of complicated topology maps caused by the dynamic traffic rules in local intersections and lanes. Secondly, multi-agents based control system architecture of MicroIV is designed where multi-autonomous driving tasks involved. Thirdly, a local path planning approach for different autonomous driving is proposed with the control system architecture. Experimental results show that these proposed approaches could meet the demand of path planning for MicroIV in complex traffic flow simulation.

关键词： micro intelligent vehicles path planning control system architecture

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Stereo-based dense disparity estimation for lunar surface

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2012 International Conference on Information Technology and Software Engineering, ITSE 2012

作者： Du, Yingkui Zheng, Wei Zhao, Dengke Wang, Yaonan Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences N0114 Nanta Street 110016 Shenyang China School of Information Science and Engineering Shenyang Ligong University 110016 Shenyang China College of Electrical and Information Engineering Hunan University 410082 Changsha China

ISBN: (纸本)9783642345302

A stereo-based dense disparity estimation algorithm is proposed to build high quality dense disparity map of lunar surface under special illumination, weak texture and occlusion condition. To avoidance the serious shadow effect effectively, intrinsic image of stereo images are preprocessed. A color similarity probability based belief propagation algorithm (BP) is proposed to solve the depth discontinuous problem of occlusion and obtain an initial dense disparity map. Mean-Shift segmentation algorithm and adaptive threshold optimization are utilized to improve the precision of initial dense disparity map of weak and high similarity texture region in stereo images. Experimental results of the images of standard test library and the stereo images of simulated lunar surface validate that our algorithm is robust to build high quality stereo dense disparity map for Lunar surface. © 2013 Springer-Verlag.

关键词： Image enhancement

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An energy harvester combining a piezoelectric cantilever and a single degree of freedom elastic system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第7期13卷 526-537页

作者： Hong-yan WANG Xiao-biao SHAN Tan XIE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001China College of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China

This paper presents a type of vibration energy harvester combining a piezoelectric cantilever and a single degree of freedom (SDOF) elastic system. The main function of the additional SDOF elastic system is to magnify vibration displacement of the piezoelectric cantilever to improve the power output. A mathematical model of the energy harvester is developed based on Hamilton's principle and Rayleigh-Ritz method. Furthermore, the effects of the structural parameters of the SDOF elastic system on the electromechanical outputs of the energy harvester are analyzed numerically. The accuracy of the output performance in the numerical solution is identified from the finite element method (FEM). A good agreement is found between the numerical results and FEM results. The results show that the power output can be increased and the frequency bandwidth can be improved when the SDOF elastic system has a larger lumped mass and a smaller damping ratio. The numerical results also indicate that a matching load resistance under the short circuit resonance condition can obtain a higher current output, and so is more suitable for application to the piezoelectric energy harvester.

关键词： Piezoelectric cantilever Single degree of freedom elastic （SDOF） system Energy harvesting Finite element analysis（FEA）

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Automatic kinematic modelling of a modular reconfigurable robot

Automatic kinematic modelling of a modular reconfigurable ro...

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作者： Pan, Xinan Wang, Hongguang Jiang, Yong Xiao, Jizhong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 114 Nanta Street Shenyang 110016 China Graduate School of the Chinese Academy of Sciences Beijing China Department of Electrical Engineering City College of New York NY United States

This paper focuses on the automatic generation of forward kinematics of a kind of modular reconfigurable robot. Based on the modularized division of robots and the communication between the host and the modules, a configuration recognition method is proposed. By using the graph theory, the method of topological analysis is proposed, and the assembly incidence matrix (AIM) and path matrix are derived. Subsequently, based on the results of topological analysis and the definition of module frames, the initial poses and twists of a robot are obtained. To deal with the multi-chain robots, the entries of the path matrix are employed to enable dyads to appear or not to appear in the kinematic equations. Then, the forward kinematics of the multi-chain robot is derived. An illustrative example and an experiment are presented. The results show that the method is valid and suitable for both single-open-chain robots and multi-chain robots. © The Author(s) 2012.

关键词： Graph theory

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PD iterative self-learning control for 3R plane robot trajectory tracking

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Telkomnika - Indonesian Journal of Electrical Engineering 2013年第10期11卷 5945-5953页

作者： Gao, Hongwei Hong, Kun Liu, Jinguo Leng, Yuquan Liu, Chuanyin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science China School of Information Science and Engineering Shenyang Ligong University China

In order to improve the speed and accuracy of the trajectory tracking control for 3R plane robot, a PD iterative self-learning control algorithm is proposed based on the PD iterative control algorithm. The error of target value and the actual value of this iteration is introduced into the PD learning gain to make the PD learning gain becomes a function of the error and to achieve the effect of self-learning. Simulation analysis of planar 3-link robot trajectory control shows that the proposed algorithm is better than unmodified in speed ability and accuracy. © 2013 Universitas Ahmad Dahlan.

关键词： Iterative methods

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Ground control system development and path planning design for unamnned aerial vehicles

Ground control system development and path planning design f...

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Chinese Control Conference (CCC)

作者： Shibo Liu Bin Xian Tingting Zhao Yao Zhang Xu Zhang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China Tianjin University Tianjin Tianjin CN

A ground control system (GCS) for unmanned aerial vehicles (UAV) is developed in this paper. Different tasks, which include real time communication between GCS and UAVs, data processing and storing, localization, path planning and so on, can be accomplished in the proposed GCS. To address the issue of path planning problem for UAVs, a new path planning algorithm based on potential function is proposed to drive the UAV to its destination in this paper. Time-varying gain adjusting method is used to enable the UAV obstacle avoidance ability under the constraints for the translation velocity. Lyapunov based analysis is used to prove the stability of the proposed algorithm. Numerical simulation results are included to demonstrate the performance of the proposed path planning design.

关键词： Path planning IEEE 802.11 Standards Global Positioning system Electronic mail Algorithm design and analysis MATLAB

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Simulation and Experimental Study of the Direction Control Based on the Torque Compensation of a Snake Robot

Simulation and Experimental Study of the Direction Control B...

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第四届国际仿生工程学术会议

作者： Danfeng Zhang Chengdong Wu Bin Li Minghui Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences College of Information Science and Engineering Northeastern University

＜正＞Because the direction goals of the snake robot are different in applications, *** target point and target path, the direction control of a snake robot is a challenging *** have proposed a control method, which is called passive creeping based on the energy *** this paper, the direction of the snake robot which is controlled by the passive creeping control method is discussed.A new direction control method which is based on the torque compensation is *** direction control method set a universal direction goal for all the *** torque of the head joint which leads the locomotion

关键词： the snake robot direction control torque compensation adaptability

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Design and experiments of a deep-sea hydraulic manipulator system

Design and experiments of a deep-sea hydraulic manipulator s...

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OCEANS

作者： Qifeng Zhang Jun Chen Liangqing Huo Bin Sun Yang Zhao Shengguo Cui University of Chinese Academy of Sciences Beijing China Shenyang Institute of Automation CAS Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China

ISBN: (纸本)9781479913084

Deep-sea master-slave hydraulic manipulator is among most commonly tools equipped on remotely-operated vehicles or human occupied vehicles. The design and realization of a 7-function master-slave hydraulic manipulator can be used in 7000 meters depth is proposed, and the design and control experiments of the salve arm are described in detail. Linear actuator, rotary actuator and cycloid motor are the three basic modules of the slave arm. The rotary actuator is the most difficult module to realize, a double-screw-pair swing rotary actuator is designed in this paper, which realized rotary driving, multi-path oil and electric cable passing through and rotary angle measuring. To achieve smooth control result, PI control algorithm with variable gains is applied on the control of the slave arm. Running experiments show the reliability of the manipulator system. The control algorithm is also certified effective in alleviating the movement delay and overshoot jitter of slave-arm.

关键词： Manipulator dynamics Actuators Valves Joints Servomotors Algorithm design and analysis

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