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IEEE International Conference on Mechatronics and Automation

作者： Xin-Gang Zhao Dan Ye Yue Long State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang Liaoning Province China College of Information Science and Engineering Northeastern University Shenyang Liaoning Province China College of Information Shenyang Institite of Engineering Shenyang Liaoning Province China

ISBN: (纸本)9781467355599

The problem of finite frequency H∞, filter design for networked control systems (NCSs) with missing measurements is addressed in this paper. With consideration of possible data missing, the NCSs are first modeled to Markov jump systems (MJSs). A finite frequency stochastic H_∞ performance is subsequently given. By using the linear matrix inequality (LMI) method and the generalized KYP Lemma, an analysis condition guaranteeing the system to be with such a performance is derived. With the aid of the condition, a procedure of filter synthesis such that finite frequency specifications are captured, is given in the framework of linear matrix inequality (LMI). A simulation example is exploited to demonstrate the effectiveness of the proposed design procedures.

关键词： Networked control systems H∞ filter missing measurement finite frequency linear matrix inequality

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Intelligent bionic leg motion estimation based on interjoint coordination using PCA and RBF neural networks

Intelligent bionic leg motion estimation based on interjoint...

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

作者： Wang, Fei Qi, Yalu Wen, Shiguang Wu, Chengdong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 158100 China

ISBN: (纸本)9781467312776

It has been a challenging endeavor for amputee to coordinate harmoniously with his/her artificial limb. In this paper, a novel scheme of real-time motion estimation for Intelligent bionic leg based on interjoint coordination is proposed. To measure the gait during walking, inertial sensors are mounted on the CoGs of bilateral thighs and shanks to acquire angular velocities of lower limbs of subjects. For the existence of linear correlation between bilateral kinematics in healthy symmetrical human gait, principle components analysis is employed to model the interjoint coordination and is used to estimate the knee joint angle of intelligent bionic leg from body motion of amputee. To improve the presicion of motion estimation further, RBF neural networks are used to optimally calculate the knee joint angle. Simulation and experimental results demonstrate the effectiveness and correctness of the proposed scheme. © 2012 IEEE.

关键词： Motion estimation

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Theoretical study on the dynamic separation of two microplates with an intervening liquid meniscus

Theoretical study on the dynamic separation of two microplat...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Rong, Weibin Guo, Bin Shao, Bing School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The dynamic separation of two parallel microplates with an intervening liquid meniscus is studied theoretically. The dynamic model considering the meniscus force and the viscous force between the plates in the separation process was developed. With typical simulation parameters, the magnitudes of various forces were compared before the separation of two parallel plates occurs. It was found that the meniscus force decreases gradually with the increase of separation distance. However there is a sudden jump of the viscous force before it gradually increases, then it decreases dramatically. The influences of various parameters on the separation time were investigated. It was found that the separation time increases with the mass of the upper plate, surface tension, viscosity and volume of the liquid. The separation time decreases with the initial distance and the contact angles of the liquid. © (2012) Trans Tech Publications, Switzerland.

关键词： Liquids

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Theoretical analysis of meniscus forces between two spherical nanoparticles at various humidities

Theoretical analysis of meniscus forces between two spherica...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Guo, Bin Rong, Weibin Sun, Lining School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The meniscus force between nanoobjects with a mediated liquid bridge plays an important role in many applications due to scale effects. As an typical configuration, the meniscus force between two spherical nanoparticles at various humidities is studied theoretically. The numerical method and the usual approximation method of calculating the meniscus force at various humidities are compared firstly. It is found that the big error may occur at some conditions. The effects of relative humidity on the meniscus force between spherical nanoparticles are investigated. Besides, the influences of spherical radius, the distance between nanoparticles, contact angles of the liquid on the meniscus forces between spherical nanoparticles are studied. The simulation results are helpful to understand and control the adhesion force at nanoscales. © (2012) Trans Tech Publications, Switzerland.

关键词： Atmospheric humidity

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A homogenous CPG-network for multimode locomotion control of modular self-reconfigurable robot

A homogenous CPG-network for multimode locomotion control of...

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

作者： Cui, Xindan Zhu, Yanhe Wang, Xiaolu Tang, Shufeng Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A self-reconfigurable (SR) robot is a cellular robot that is capable of adapting its shape and functions to changing environments and demands, and the "cellular" in which can rearrange their mutual mechanical connection to change the robot's outward features. This paper first introduces a new self-reconfigurable robotic system UBot. For the variability characteristics of the self-reconfigurable system, combined with the biological central pattern generator (CPG), a locomotion control method has been proposed which can control multimode locomotion for different configurations through the self-excited oscillation via different coupled modes of CPG network. The oscillators in the CPG network are homogenous with the same models and parameters, only the connection relations change for different configurations. The simulation and experiment of quadruped walking and snake-type wiggling controlled by CPG network have been successfully completed on the platform of UBot modular self-reconfigurable system. © 2012 IEEE.

关键词： Modular robots

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Optimal quantum measurement of finite-dimensional systems and coherent anti-Stokes Raman spectroscopy

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Chinese Science Bulletin 2012年第18期57卷 2215-2222页

作者： GAO Fang WANG YaoXiong SHUANG Feng Institute of Intelligent Machines Chinese Academy of SciencesHefei 230031China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

Quantum measurement is a fundamental problem in quantum control theory and *** can obtain unknown information of quantum systems,and can also change state of the systems *** the outcome and back action could be used to control quantum *** paper presents recent research progress about optimal control of state transformation in finite-dimensional quantum systems by back action of non-selective quantum measurement,and optimal control of signal and background of CARS (coherent anti-Stokes Raman spectroscopy) by phase shaping *** measurement sequence control of finite-dimensional quantum systems,the necessary condition for critical points of the underlying state transformation objective is found to be a highly symmetric form as a chain of equalities,and analytical and numerical solutions in several cases are *** the CARS control,it is found that the maximal resonant signal and minimal background at a specific frequency can be achieved by shaping the probe pulse only while keeping pump and Stokes pulses in transform limited forms (TLFs).An arctan-type phase function is obtained for the probe pulse to simultaneously enhance the resonant signal and suppress the *** broadband background elimination,we find that the optimal phase shaping scheme of probe pulse is quasi-time-delay while keeping the pump and Stokes pulses in *** conclusions could help design control strategies of quantum devices.

关键词：量子测量量子系统反斯托克斯拉曼光谱有限维相干控制理论控制状态

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Differentiated time-frequency characteristics based real-time motion decoding for lower extremity rehabilitation exoskeleton robot

Differentiated time-frequency characteristics based real-tim...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Fan, Yuanjie Yin, Yuehong State Key Laboratory of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Dongchuan Rd. 800 200240 Shanghai China

ISBN: (纸本)9783642335143

Decode the human motion intension precisely in real time is the key problem in coordinated control of the lower extremity exoskeleton. In this research, the relationship between frequency characteristics of sEMG (surface electromyographic) and muscle contraction is established in real time according to the biomechanism of skeletal muscle;DPSE (Differentiated Power Spectrum Estimation) method is applied to extract frequency characteristics from sEMG precisely and quickly;offset compensation is added to prevent noise disturbance during feature extracting of the sEMG with lower SNR (signal-to-noise ratio). Corresponding experiments on knee joint are conducted by prototype exoskeleton robot. EMGBFT (EMG Biofeedback therapy) based on force and haptic is applied as information feedback. Results show the human-machine interface can decode human motion intension and assist or resist movement of the wearer in real-time. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Signal to noise ratio

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Detection parameters design for compound survey seafloor targets by multibeam sonar

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Telkomnika - Indonesian Journal of Electrical Engineering 2013年第8期11卷 4306-4316页

作者： Wu, Li Hong Xu, Wen Hai Li, Yi Ping Transportation Equipments and Ocean Engineering College Dalian Maritime University China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Information Science and Technology College Dalian Maritime University No.1 LinNan Road Dalian 116026 China

Swath bathymetry system surveys with wide swath, high location resolution, and is used to detect sea bottom terrain. But the object resolution detected decreases as the depth increasing, its data processing with high mistake, used rarely in sea floor object *** GeoSwath, a multibeam sonar does. Although it covers an angular range of -120°to 120 °from the vertical direction, providing high density and high quality bathymetry data along with side scan like amplitude imagery, the data processing is more relied on human intervention to get accurate depth contour and sonar image which prevent its propular use in survey of seafloor targets. The purpose of this article presents survey parameter setting during survey and data processing technique to survey seafloor target by GeoSwath system, which set the proper detect parameters including ping length, ship velocity to increase the points over targets, setting navigation line parallel to the maximum dimension of target during survey, adopting appropriate filter to depth data processing and using TVG control over amplitude data to get accurate depth grid and sonar image of seafloor target. Finally, the way is used to measure the artificial object in harbor and two ship wrecks at sea, compound with the sonar image taken by the forward looking sonar, to search the ship wreck near harbor, to help to recognize the targets and locates its real position. This technology improves GeoSwath survey capability with compound detection and is helpful for make precise map for waterway. Also this work is helpful to achieve detecting seafloor objects fast, accurately, effectively in underwater large scale area during salvation and rescue task. © 2013 Universitas Ahmad Dahlan.

关键词： Surveys

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A method for unpowered space robot safety rendezvous, with non-cooperative spacecraft

A method for unpowered space robot safety rendezvous, with n...

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

作者： Zhang, Fuhai Chen, Hongwei Hua, Lei Fu, Yili Wang, Shuguo Guo, Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Postdoctoral Flow Station of Materials Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467312776

Aiming at rendezvous path planning of free floating space robot(the chaser satellite) in outer space, the path planning method to ensure safe approaching the non-cooperative space target based on the orbit mechanical equation is proposed. The whole rendezvous path planning strategy and safety principle of rendezvous path planning in ultimate approaching stage of free floating space robot are researched;Based on orbit mechanical equation, the moving ellipse locus of free floating space robot is generated using the safety principle to approach the non-cooperative space target in ultimate approaching stage. The method realizes that the space robot system approaches the spinning non-cooperative space target in free floating work mode, and the robot can escape safely when the subsequent work could not be normally completed. © 2012 IEEE.

关键词： Motion planning

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Development of high integrated 2-DOF joint module for space application

Development of high integrated 2-DOF joint module for space ...

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

作者： Shi, Shicai Li, Rong Ni, Fenglei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Automobile Heilongjiang Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

This paper presents a high integrated 2-DOF joint module for space application which consists of two modular joints and a control box. The axes of the two joints are orthogonal and intersectant. Based on the TDJM, some new version manipulators with different configuration could be developed with only a little modification in short time, such as four-DOF manipulator or six-DOF manipulator. The TDJM have high reliability with full redundant drive, sensors, power, communication and control system. A big central hole in the modular joint was designed for the placement of the cables in the TDJM, which prevents them from the damage of high temperature, radiation in the space environment and the motion of the joints. A test table was developed to measure the performances of the TDJM. © 2012 IEEE.

关键词： Manipulators

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