检索结果-内蒙古大学图书馆

Virtual Simulation system with Path-following Control for Lunar Rovers Moving on Rough Terrain

Chinese Journal of Mechanical Engineering 2012年第1期25卷 38-46页

作者： GAO Haibo DENG Zongquan DING Liang WANG Mengyu State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Harbin Institute of TechnologyHarbin 150001China

Virtual simulation technology is of great importance for the teleoperation of lunar rovers during the exploration phase, as well as the design of locomotion systems, performance evaluation, and control strategy verification during the R&D phase. The currently used simulation methods for lunar rovers have several disadvantages such as poor fidelity for wheel-soil interaction mechanics, difficulty in simulating rough terrains, and high complexity making it difficult to realize mobility control in simulation systems. This paper presents an approach for the construction of a virtual simulation system that integrates the features of 3D modeling, wheel-soil interaction mechanics, dynamics analysis, mobility control, and visualization for lunar rovers. Wheel-soil interaction experiments are carried out to test the forces and moments acted on a lunar rover’s wheel by the soil with a vertical load of 80 N and slip ratios of 0, 0.03, 0.05, 0.1, 0.2, 0.3, 0.4, and 0.6. The experimental results are referenced in order to set the parameters’ values for the PAC2002 tire model of the ADAMS/Tire module. In addition, the rough lunar terrain is simulated with 3DS Max software after analyzing its characteristics, and a data-transfer program is developed with Matlab to simulate the 3D reappearance of a lunar environment in ADAMS. The 3D model of a lunar rover is developed by using Pro/E software and is then imported into ADAMS. Finally, a virtual simulation system for lunar rovers is developed. A path-following control strategy based on slip compensation for a six-wheeled lunar rover prototype is researched. The controller is implemented by using Matlab/Simulink to carry out joint simulations with ADAMS. The designed virtual lunar rover could follow the planned path on a rough terrain. This paper can also provide a reference scheme for virtual simulation and performance analysis of rovers moving on rough lunar terrains.

关键词： lunar rover comprehensive simulation system rough terrain wheel-soil interaction mechanics path-following control

来源：评论

学校读者我要写书评

暂无评论

Development of microfluidic-based telemedicine for diabetes care and screening

Development of microfluidic-based telemedicine for diabetes ...

引用

作者： Yao, Ping Tung, Steve Zhan, Zhikun Hua, Jianning Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta Street 114# Shenyang 110016 China Graduate School of the Chinese Academy of Sciences Beijing China Department of Mechanical Engineering University of Arkansas Fayetteville AK United States Department of Automation Engineering Northeastern University at Qinhuangdao Qinhuangdao China

This paper describes a microfluidic-based telemedicine system for insulin detection and conveying the results digitally to physicians located off-site through the Internet. The communication infrastructure is designed to transfer the digital information from the assay site to established healthcare facilities where trained medical professionals can directly assist the detection process and provide diagnosis. The insulin detection device of the telemedicine system is an integrated polydimethysiloxane (PDMS) microfluidic device consisting of two pneumatic micropumps and one micromixer. The insulin detection protocol is based on microbeads-based double-antibody sandwich immunoassay coupled with luminal-hydrogen peroxide (H2O2) chemiluminescence. A photometer detects the peak value of the luminous intensity, which indicates the insulin concentration of the patient plasma sample tested. The calibration curves of the insulin detection protocol have been quantified. The insulin detection limit of the microfluidic system is 4×10-10 mol/l, which meets the common requirement of the current clinical studies of diabetes. Multiple immune indicators of diabetes can potentially be detected synchronously by the microfluidic system, thus providing physicians with integrative results necessary for accurate diagnosis via the Internet. The combination of microfluidic devices and telemedicine strategy offers new opportunities for diabetes care and screening, especially in rural areas where patients must travel long distances to physicians for healthcare information that might be obtained more cost effectively by local, less-trained personnel. © The Author(s) 2012.

关键词： Insulin

来源：评论

学校读者我要写书评

暂无评论

Kinematic analysis of jumping leg driven by artificial muscles

Kinematic analysis of jumping leg driven by artificial muscl...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhong, Jun Fan, Jizhuang Zhao, Jie Zhang, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

This paper presents a jumping four-bar mechanism using pneumatic muscle actuators. The mechanism has three joints and each one is powered by one artificial muscle;jumping and restoring action is achieved by muscle contracting force and spring respectively. Kinematic analysis is performed in landing and airborne phase respectively. Vertical jumping simulation is performed according to the prototype parameters and results demonstrate the kinematic analysis and show the torques supplied by muscles can meet the jumping requirement. © 2012 IEEE.

关键词： Muscle

来源：评论

学校读者我要写书评

暂无评论

Stance control of the SLIP hopper with adjustable stiffness of leg spring

Stance control of the SLIP hopper with adjustable stiffness ...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Haitao Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, a stance control strategy of the Spring Loaded Inverted Pendulum (SLIP) hopper with adjustable stiffness of leg spring is proposed. Due to the lack of a closed form analytic solution of SLIP dynamics, a novel perturbation method is developed to obtain the approximate analytic solution of the SLIP dynamics in stance phase, based on which the apex return map is also established. To compensate the energy variation between the current apex state and the desired apex state, a stiffness adjustment of leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and horizontal velocity in a single stride. Moreover, we illustrate through simulations that the SLIP hopper applied the proposed stance controller reveals high tracking accuracy and rapidly converges to regulated apex state. This work will benefit in both structure and adaptive controller design of legged bio-inspired robot. © 2012 IEEE.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

Automatic function-isomorphic configuration recognition and control for UBot modular self-reconfigurable robot

Automatic function-isomorphic configuration recognition and ...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhu, Yanhe Li, Ge Wang, Xiaolu Cui, Xindan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Versatility of configurations is a significant feature for modular self-reconfigurable robots. For an arbitrarily assembled typical configuration, it is not easy to find the control method quickly in case of the symmetries of the configuration and module shape. To solve this problem, a database with lots of known configurations has been established. All the configurations in the database have their own control methods which have been studied before. Therefore, the way for matching the new configuration to one existing configuration in the database is quite important in locomotion and self-reconfiguration control of the self-reconfigurable robotic system. A combined configuration recognition method based on Matlab graphisomorphism function and improved three-dimensional linked list of modules algorithm was proposed. Firstly we use graphisomorphism function to find the configurations sharing the same underlying graph structure, then use improved three-dimensional linked list algorithm to acquire the ID and gait mappings. The method has been verified by simulation and experiment. © 2012 IEEE.

关键词： Modular robots

来源：评论

学校读者我要写书评

暂无评论

Improving the efficiency and effectiveness of estimating the ego motion of a stereo camera

Improving the efficiency and effectiveness of estimating the...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Xingdong Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Estimating the ego motion is a key problem for a mobile robot, its efficiency and precision are hard to be balanced. In this paper, a fast and accurate approach is proposed to estimate the ego motion of stereo camera. Firstly, two images from left and right cameras are rectified. secondly, a index is introduced to speed up the matching process to find corresponding point from right image for each point from left image. finally, a RANSAC structure based method is proposed, which eliminates the outliers before estimating the ego motion. Methods developed in this paper are validated using both real and synthetic data. © 2012 IEEE.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Cross-coupling control of dexterous hand based on neuron networks

Cross-coupling control of dexterous hand based on neuron net...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Gu, Haiwei Fan, Shaowei Zhang, Yuanfei Liu, Yiwei Jin, Minghe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization error and meanwhile realizes the real-time adjustment of multiple parameters. The results of experiments show that compared with cross-coupling control method of which the parameters are stable, the method proposed in the paper holds the advantage that it can decrease position error and increase the stability of position tracking. © 2012 IEEE.

关键词： Backpropagation

来源：评论

学校读者我要写书评

暂无评论

Development of the hexapod robot HITCR-II for walking on unstructured terrain

Development of the hexapod robot HITCR-II for walking on uns...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Jie Zhang, He Liu, Yubin Yan, Jihong Zang, Xizhe Zhou, Ziwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The purpose of this paper is to describe the design and development of the hexapod robot HITCR-II for walking on unstructured terrain. The leg and joint with modularized structure have been designed, and an objective function has been made up to further optimize the parameters of structure, thereby enhancing the motion performance of this robot;The 3-D.O.F force sensor in the foot end and joint torque sensors have been designed into the structure of leg, thus the leg has the omnidirectional perception of force, and the robot is also equipped with pose sensor, joint position sensor and binocular vision, so it can apperceive its own state and external environment;A highly integrated electric system has been developed, and finally the shell of the robot has been designed to make the robot more beautiful as well as better wrap-around. © 2012 IEEE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

An analytical solution for inverse kinematic of 7-DOF redundant manipulators with offset-wrist

An analytical solution for inverse kinematic of 7-DOF redund...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Chao Jin, Minghe Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A valid analytical inverse kinematics computation for seven-degree-of- freedom (7-DOF) redundant manipulators with offset-wrist is proposed. The method uses a virtual joint to replace the join offset from the wrist, and forms a virtual manipulator with a sphere-wrist. Assuming that the virtual manipulator and the real manipulator's joint angles keep the same all the time, the virtual manipulator seems to be driven by the real manipulator;meanwhile, the real manipulator seems to be driven by the virtual manipulator. There is an interesting relationship between these two manipulators: the pose of the virtual manipulator can be calculated if the pose and the 7th joint's angle of the real manipulator are given. It means that the virtual manipulator is driven to the calculated pose when the real manipulator moves to the given pose with the given 7th joint angle, meanwhile, the real manipulator will be driven to the to the given pose when the virtual manipulator moves to the calculated pose with the given 7th joint angle. Then the inverse kinematic solutions of real manipulator can be obtained through solving the inverse kinematic problems of virtual manipulator with a known 7th joint angle. They share the same solutions. In this paper, the manipulators' configuration is analyzed and the virtual joint method and its detailed solution processes were given. Lastly the method is verified by kinematic simulations. The results show that the virtual joint method behaves high precision in solving the inverse kinematic of 7-DOF redundant manipulator with offset-wrist. © 2012 IEEE.

关键词： Inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Study on the exciting mode of ultrasonic motor using bending vibration transducer

Study on the exciting mode of ultrasonic motor using bending...

引用

2012 IEEE 7th International Power Electronics and Motion Control Conference - ECCE Asia, IPEMC 2012

作者： Yang, Xiao-Hui Liu, Ying-Xiang Chen, Wei-Shan Liu, Jun-Kao State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

ISBN: (纸本)9781457720864

Ultrasonic motors (USM) are new type actuators that exhibit merits such as simple structure, high torque at low speed, compact size, quick response, quiet operation, self-locking when power off, no electromagnetic radiation and higher position accuracy. In the previous study, the authors proposed a new type USM using bending vibration mode. In that new design, elliptical trajectory vibrations are formed on the two driving feet by composing two orthogonal bending vibration modes of a piezoelectric-metal beam, that avoid the mode degeneration problem in the design process. In this paper, our research focuses on the exciting mode of bending vibration ceramics of the proposed motor. Firstly, the vibration characteristics of the proposed motor under different exciting modes by changing the imposed position of the electrode are obtained by transient analysis. Then, the exciting mode is adjusted by changing the imposed area of the electrode, and the vibration strengths of the driving feet are analyzed. Analysis results show that the PZT ceramic away from the neutral plane of the bending mode shape offers more contributions to the bending vibration of the motor under the same exciting voltage, while the PZT ceramic that near to the neutral plane give very few contribution. The study results of this paper can guide the design of general bending vibration transducer. © 2012 IEEE.

关键词： Electromagnetic waves

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：