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

作者： Liu, Guocai 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

Human can walk agilely because of their dynamic balance. In this article, we develop a simple algorithm to control bipedal walking with active balance. The robot can reach its expected velocity by controlling stance leg length and can maintain dynamic balance by selecting suitable swing direction. We test our control algorithm in a simulation environment. The tests show that the robot can follow the given velocity, endure external disturbance from front and rear direction, and walk on the uneven or ramp ground. This control algorithm can be used to develop bipedal robot or humanoid robot. © 2012 IEEE.

关键词： Anthropomorphic robots

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Study on the vibration couplings of a traveling wave piezoelectric stator excited by a longitudinal and bending hybrid transducer

Study on the vibration couplings of a traveling wave piezoel...

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

作者： Liu, Yingxiang Chen, Weishan Feng, Peilian Liu, Junkao State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

ISBN: (纸本)9781457720864

In a previous study, the authors have proposed, designed and fabricated a cylindrical traveling wave piezoelectric motor excited by a longitudinal and bending hybrid composite transducer. This study focuses the research on the vibration coupling problems of the proposed stator. After the introduction of the working principle of the motor, harmonic analysis is developed to gain the input impedance characteristics of the longitudinal and bending vibration modes of single transducer;the electromechanical coupling factors are calculated to evaluate the energy transfer efficiency. Then, the input impedance characteristics of the two vibration modes of the stator are analyzed to gain the corresponding electromechanical coupling factors. At last, the resonance frequencies of the transducer and cylinder are adjusted to obtain their effects on the electromechanical coupling factors. The study results can guide the design of traveling wave motors that utilized sandwich transducers as actuators. © 2012 IEEE.

关键词： Stators

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A water walking robot inspired by water strider

A water walking robot inspired by water strider

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

作者： Zhao, Jie Zhang, Xinbin Pan, Qinmin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Recent studies on water striders have revealed the mechanism of their floating and walking on water. By fast swinging their middle legs backward and striking the water, water striders get the driving force to move forward. This paper introduces a new water walking robot mimicking the rowing locomotion of water strider. The robot weighs 10 g and utilizes superhydrophobic nickel foam sheets as supporting legs and a spring-based actuating mechanism. Motion and force analysis for the supporting legs and the spring-based actuating mechanism were made and corresponding mechanics analysis models were built, based on which the simulation analysis of the robot was carried out. The robot can move over a distance of 30 cm per stroke with an average speed of 30 cm/s. This robot not only can help us better understand the mechanism of water strider rowing on water, but also can be developed for many applications in water quality monitoring, aquatic exploration, search and rescue on water, etc. in the future. © 2012 IEEE.

关键词： Water quality

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Efficient imaging and real-time display of Scanning Ion Conductance Microscopy based on block compressive sensing

Efficient imaging and real-time display of Scanning Ion Cond...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Gongxin Li Peng Li Yuechao Wang Wenxue Wang Ning Xi Lianqing Liu University of Chinese Academy of Sciences China Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical and Computer Engineering Michigan State University Michigan USA

Scanning Ion Conductance Microscopy (SICM) is one kind of Scanning Probe Microscopies (SPMs), and it can be used in mapping topographical features of sample at high - resolution with free contact by measuring the ion current of ultra-micropipette. SICM is widely used in imaging soft samples for many distinct merits, such as high resolution imaging, simple preparation of probe and no harm to sample surface. However, it is undeniable that the scanning speed of SICM is much slower than other SPMs, especially for large scale and high resolution imaging. Fortunately, compressive sensing (CS), which breaks through the Shannon's sampling theorem for dramatically reducing sample rate, could improve scanning speed tremendously, but it still costs much time in image reconstruction. Therefore block compressive sensing was applied to SICM imaging for reducing the reconstruction time of sparse signals, and it has an anther further and unique application that it can achieve the function of image real-time display. In this paper, a new method of dividing blocks and a new matrix arithmetic operation was proposed to build the block compressive sensing model, and several experiments was taken to verified the superiority of block compressive sensing in reducing imaging time and image real-time display used SICM.

关键词： Compressed sensing Image reconstruction Sparse matrices Real-time systems Microscopy

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Continuous wavelet transform-based estimation of modal parameters with scale selection

Continuous wavelet transform-based estimation of modal param...

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

作者： Dai, Yu Zhang, Jianxun Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China

ISBN: (纸本)9781467312776

This paper improves the method for the estimation of modal parameters from free decay response of a structural system using continuous wavelet transform (CWT). The CWT of free decay response is investigated especially for the case when closely spaced modes need to be analyzed. A robust iteratively reweighted least-squares (IRLS) linear regression method is introduced to fit wavelet amplitude and phase curves. The selection of the appropriate analyzing scale is proposed to improve the modal parameter estimation of the system with poorly separated modes, and scale selection is performed by searching the locations of the local minima of fitting error functions. Both numerical and experimental studies are performed to demonstrate the method and verify its accuracy. The experimental system is a minimally invasive surgery manipulator with force sensing ability. The results show that the estimation accuracy is significantly improved in the presence of close modes. © 2012 IEEE.

关键词： Least squares approximations

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Virtual Force Feedback-based 3D Master/Slave Tele-nanomanipulation in SEM

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Journal of Nano Research 2012年 20卷 109-116页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electromechanical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In this paper, we focus on the need for real time nanomanipulation, a 3D Master/Slave tele-nanomanipulation platform is studied with the haptic device (Omega3) as the master and the nanopositioner (Attocube) as the slave, working in scanning electron microscope (SEM). The 3D manipulation environment is developed with the help of VR technology. The platform is controlled by the enhanced virtual coupling (EVC) algorithm. The stability of the platform is discussed with Llewellyn's stability criteria. Scale factors and enhancement factor of the control system are determined, according to the force applied on master and slave terminals. Performances of the platform are tested with the ZnO nanowire manipulation experiments. Experiment results show that the platform has good performance while guaranteeing stability on ZnO nanowires manipulation in SEM using the method presented in this paper. © (2012) Trans Tech Publications, Switzerland.

关键词： Stability criteria

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Simulation and experiment on automatic polarization alignment of fine polarization maintaining fibers

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Zhongguo Jiguang/Chinese Journal of Lasers 2013年第12期40卷

作者： Rong, Weibin Zhang, Wei Wang, Lefeng Cao, Yang Zhao, Lei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China AVIC Xi'an Fight Automatic Control Research Institute Xi'an Shaanxi 710065 China

To improve the performance of fine polarization maintaining fiber (PMF) couplers, it is necessary to increase the detection accuracy of polarization axis. The mathematical model of panda PMF index is established, and then the side view method is simulated. From the simulation results, the light is transmitted in the optical fiber and is focused on the other side, and the maximum light intensity of the fiber image is related to the rotation angle and the observation distance. When the observation distance is constant, the maximum value of light intensity changes periodically with the PMF rotation angle. When the observation plane is near the focused one of the transmitted light, the highest light intensity of optical image reaches the maximum value, which is the polarization axis detection parameter of PMF. Based on this, detection method which takes the maximum intensity as the feature is proposed. Combining the micro-vision technology, the polarization axis detection system for fine PMF is designed. The image sharpness function which can confirm the position of the detection plane is proposed. The experimental data are processed using the Fourier filtering method. By fitting the experiment data with the cubic spline method, the panda PMF polarization axis is determined. According to the experimental results, the repetitive detection error is 0.61°, which meets the requirements of PMF coupler manufacturing.

关键词： Polarization-maintaining fiber

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A robotic holder of transcranial doppler probe for CBFV auto-searching

A robotic holder of transcranial doppler probe for CBFV auto...

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International Conference on Information and Automation (ICIA)

作者： Quanli Qiu Xiaoping Yang Jia Liu Pandeng Zhang Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Guangdong China Key Lab of Advanced Manufacturing Technology Harbin Institute of Technology China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR China

ISBN: (纸本)9781479913329

The operational difficulty of Transcranial Doppler (TCD) limits its use in normal clinical settings. We therefore present a robotic arm consists of five degrees of freedom which are achieved by four motors and one extra flexible spring, to assure appropriate pressure on temporal window. With proper control strategies, the robotic arm can move the TCD probe to automatically search temporal window positions. In this paper, we have developed the first full-automatic ambulatory TCD system, evaluated its reliability and efficiency after many experiments. In view of the validation of the instrument in successful experiments, this probe holder is likely to have great impact on future TCD examination.

关键词： Probes DC motors Robots Equations Mathematical model Force Arteries

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A dynamic model of skeletal muscle based on collective behavior of myosin motors-Biomechanics of skeletal muscle based on working mechanism of myosin motors(I)

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Science China(Technological Sciences) 2012年第6期55卷 1589-1595页

作者： GUO Zhao YIN YueHong State Key Laboratory of Mechanism System and Vibration Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China

A dynalnic model of skeletal muscle is developed to describe its activation kinetics and contraction dynamics based on the collective working mechanism of myosin II motors with a statistical mechanics method. According to the structure of sar- comeres arranged in series and in parallel, the mechanical properties of skeletal muscle are studied. This model reveals the re- lations between action potential and muscle characteristics. It is shown that calcium concentration in sarcoplasmic （SP） in- creases linearly with the increasing stimulation frequency and gradually reaches saturation. Active force and contraction veloc- ity follow the trend of calcium concentration and reach a peak value at the maximum stimulation frequency. Contraction ve- locity is inversely proportional to the load while the contraction power increases to maximum and then reduces to zero with the increasing load. These properties are consistent with published physiological experimental results of skeletal muscle.

关键词： skeletal muscle sacromere molecular motor collective behavior dynamic model

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Research on grinding system of robot-assisted artificial cervical disc replacement surgery

Research on grinding system of robot-assisted artificial cer...

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

作者： Wu, Dongmei Zhang, Litao Hao, Guangxin Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

Artificial cervical disc replacement surgery is not widely accepted mainly because many problems such as inadequate precision, excessive radiation and other issues need to be solved. A medical robot has been designed to complete positioning and grinding bone mating surfaces with prosthesis in artificial cervical disc replacement surgery. Firstly, the mechanical design of the 6-DOF (Degree of Freedom) parallel robot and the control system design are presented. Then kinematic analysis and grinding trajectory planning for the medical robot are described. Finally, the experiment of the robotassisted cervical disc replacement surgery was carried out with a sheep cervical spine as experimental subject. The experiment on this platform verified rationality and feasibility for the robotassisted cervical disc replacement surgery. © 2012 IEEE.

关键词： Kinematics

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