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Conference on Control and Fault-Tolerant systems

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

ISBN: (纸本)9781479928569

With the development of unmanned helicopters, the dependability of helicopters have attracted more and more attention of many researchers. In order to deal with these problems, fault diagnosis and fault tolerant control methods were used for manned or unmanned helicopter platforms. This paper presents an overview of the existing works on fault diagnosis, including analytical/model-based, signal processing-based and knowledge-based techniques, and passive/active fault tolerant control approaches for helicopters mainly with single rotor. Before the main part of the review, a short description of fault classification is presented. Compared with the former work, this review contains some in-depth discussion of various fault diagnosis techniques and a survey for fault tolerant control methods.

关键词： drone helicopters Fault diagnosis fault-tolerant control Helicopters Control Methods Literature Review MAN Fault class

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Research on the Principle of Compiled-typed NC system

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10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Ren, Yan Hai Lang, Yue Dong Liao, Zhi Rong State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Beijing Aerospace Control Instrument Research Institute Beijing China

ISBN: (纸本)9783037853993

To solve the conflict between OS's real time property and NC system's open and universal property [1], a compiled-typed NC system is advanced based on analysis and research of the structure of modern NC systems. This kind of system can diminish the affection of the real-time OS's respond precision to machining with high speed and high precision and improve the frequency of interpolation sampling and respond precision. Motion control experiment and parametric curve direct interpolation experiment are finished by bonnet polishing machine tool with compiled-typed NC prototype system, proving that working principle of compiled-typed NC system is correct and validity.

关键词： NC system Compile USB ARM Real-time

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

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

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

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

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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An anthropomorphic controlled hand prosthesis system

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Journal of Zhejiang University-Science C(Computers and Electronics) 2012年第10期13卷 769-780页

作者： Hai HUANG Hong LIU Nan LI Li JIANG Da-peng YANG Lei WAN Yong-jie PANG Gerd HIRZINGER National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 China State Key Laboratory of Robot and Systems Harbin Institute of Technology Harbin 150001 Chin Institute of Robotics and Mechatronics German Aerospace Center DLR Wessling 82230 Germany

Based on HIT/DLR(Harbin institute of Technology/Deutsches Zentrum für Luft-und Raumfahrt) Prosthetic Hand II,an anthropomorphic controller is developed to help the amputees use and perceive the prosthetic hands more like people with normal physiological *** core of the anthropomorphic controller is a hierarchical control *** is composed of a top controller and a low level *** top controller has been designed both to interpret the amputee's intensions through electromyography(EMG) signals recognition and to provide the subject-prosthesis interface control with electro-cutaneous sensory feedback(ESF),while the low level controller is responsible for grasp *** control strategies include the EMG control strategy,EMG and ESF closed loop control strategy,and voice control *** EMG signal recognition,10 types of hand postures are recognized based on support vector machine(SVM).An anthropomorphic closed loop system is constructed to include the customer,sensory feedback system,EMG control system,and the prosthetic hand,so as to help the amputee perform a more successful EMG *** results suggest that the anthropomorphic controller can be used for multi-posture recognition,and that grasp with ESF is a cognitive dual process with visual and sensory *** process while outperforming the visual feedback process provides the concept of grasp force magnitude during manipulation of objects.

关键词： Anthropomorphic controller Prosthetic hand EMG recognition Electro-cutaneous sensory feedback

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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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International Conference on Fuzzy systems and Knowledge Discovery (FSKD)

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

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.

关键词： Wheels Legged locomotion Robot kinematics Optimization Planning

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Research on USB Communication in the Compiled-typed NC system

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10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Ren, Yan Hai Cao, Gang Liao, Zhi Rong State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Harbin Power Bureau Hei Longjiang Province China

ISBN: (纸本)9783037853993

The compiled-typed NC system compiles NC program into object codes and sends them to slave computers. The object codes generated is a large amount of data. To ensure the data transmission fast and real-time, USB communication is adopted and researched in this paper. The design of USB driver program and communication program in the upper computer and slave computers is mainly introduced.

关键词： USB driver program communication mode NC system

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Wireless Control system of Reconfigurable Flexible Process-equipment

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10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Fang, Yan Tao Cao, Gang Zhu, Bo State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Harbin Power Bureau Hei Longjiang Province China

ISBN: (纸本)9783037853993

The reconfigurable flexible process-equipment developed for machining complex shape and size changes in the scope of large thin-walled parts usually consists of dozens or even hundreds of positioning/support units. During the control process, each unit communicates with the host computer to get control commands and simultaneously feedback internal state information. For large complex system composed of many subsystems, the traditional cable connection based on field bus technology is high control costs and the complexity of the control circuit is hard to build and manage. To solve this problem, this paper puts forward a new way of wireless communication with the cable network technology and drive positioning/support unit in order. This paper focuses on the overall structure of the proposed system, host computer control system, lower computer control system and wireless communication module as well as the implementation hardware circuits and software algorithm. In addition, some solutions of related issues are discussed. The research shows that the proposed system has high stability and reliability, and it provides an effective way to the control and communication of complex system which fully meets the requirements of reconfigurable flexible process-equipment.

关键词： Reconfigurable Flexible Process-equipment Wireless Control ZigBee

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Evaluation methods for the autonomy of unmanned systems

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Chinese Science Bulletin 2012年第15期57卷 3409-3418页

作者： WANG YueChao Liu JinGuo State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

Future military and civilian unmanned systems will be extensively used on land,under the sea,in air,and in *** of their autonomy is critical to realize the autonomous operation ability of unmanned *** paper discussed the basic concepts of autonomy and the significance of autonomy evaluation,and then surveys and describes existing evaluating *** on analyses of key technologies and these technologies' technical readiness levels,a cobweb evaluation model as a universal evaluation model has been used to evaluate unmanned *** the technology warps(aspects of autonomy) and wefts(levels of those aspects) of unmanned systems can be determined for the cobweb model,the model can handle the mutual coupling,high dimensions,and diversity of warp *** model potentially has wide application in evaluating various unmanned systems.

关键词：评价方法无人系统自主性无人驾驶系统技术准备评价模型操作能力相互耦合

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Laser cutting ZrO2 ceramic with controlled fracture technique

Laser cutting ZrO2 ceramic with controlled fracture techniqu...

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

作者： Yang, Lijun Wang, Yang Tian, Zhongguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Key Laboratory of Micro-systems and Micro-structures Manufacturing Ministry of Education Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The research about laser cutting technology based on controlled fracture method has great potential to cutting ceramics. The paper investigate the controlled fracture technology to ZrO2 ceramic irradiated with Nd:YAG laser. In the experiment, laser energy produces a thermal stress that cause ceramic to separate along the moving path of laser beam. Graphite coated ceramic surface to improve the absorption rate for laser radiation. Optical microscope photographs and SEM of the separation surface are obtained to examine the surface quality. The surface qualities of ceramic obtained by laser and mechanical cutting are compared. Fracture propagation mechanism is studied by examining the temperature and stress fields using finite element software ANSYS12.1. The results show that good cutting quality of ceramic can be acquired by continuous Nd:YAG laser cutting with controlled fracture. © 2012 IEEE.

关键词： Fracture

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