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

作者： Wang, Z.L. Cai, B.G. Yi, F.Z. Liu, Y. Zhao, J. School of Electronic Information and Engineering Beijing Jiao Tong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

The ego-motion estimation is a basic task in many operations of a mobile robot. An accurate and robust result of motion estimation can greatly improve the operation. In this paper, we assume the mobile robot with visual observer is moved on flat ground and a constrained camera-robot configuration is used to simplify the camera motion model. Based on the assumption and simplified camera-robot configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and expressed by two parts, the multistage process for ego-motion estimation is introduced. Some experiments with real images demonstrate the robustness of the motion estimation. And the factors which may affect the results are discussed. © 2012 IEEE.

关键词： Motion estimation

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A fast two-step marker-controlled watershed image segmentation method

A fast two-step marker-controlled watershed image segmentati...

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

作者： Han, Xianwei Fu, Yili Zhang, Haifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin Dongyu Agricultural Engineering Machinery Co. Ltd. Harbin 150090 China

ISBN: (纸本)9781467312776

A fast two-step marker-controlled watershed image segmentation method in CIELAB color space is presented in this paper. We choose a number of seed points distributed nearly uniformly as the makers to perform the first marker watershed segmentation step, and obtain superpixels of the input image. These markers have the minimal gradient in a 3 x 3 neighborhood, which is able to avoid placing them at an edge and to reduce the chances of choosing a noise pixel. After superpixels segmentation, we do not adopt the traditional region merging strategies based on the different features of the adjacent regions, but cluster the superpixels in a 5-D space composed of Lab color vector and the position coordinates of the superpixels to resolve the over-segmentation problem, which saves a lot of computation time. Experiments on various types of images demonstrate that our algorithm is faster than many other segmentation algorithms and very suitable for real-time applications. © 2012 IEEE.

关键词： Superpixels

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Design and Development of a Cheetah Robot under the Neural Mechanism Controlling the Leg's Muscles

Design and Development of a Cheetah Robot under the Neural M...

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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun currently a PhD candidate in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China currently an associate professor in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (纸本)9781467317375

The high speed running of legged robot raise higher requirements on the design and development of the robot and the control method. The mammals' excellent performance, especially the cheetah, provides us much inspiration on control, mechanical design and etc. In this paper, a model of the cheetah robot is developed for researching the locomotory behaviors of fast running. Under the biological knowledge on neural mechanism, a new bio-inspired control method was proposed via controlling the muscles flexion and extension movements. Then, a bio-musculoskeletal hindlimb prototype was designed in this paper. The muscle-like actuator and the cheetah-like structure combining the bio-control approach provide more natural fashion for the new robot. Finally, the simulation of the bounding gait establishes good biological properties, cheetah-like leg's trajectory. Experiment with the real hindlimb prototype validates the design and the development of the structure and the controller. In the near future, a final prototype will be manufactured with onboard power and air source.

关键词： Neural Mechanism Controlling development extension movements cheetahs Robot Control Methods Legged robot AIR SUPPLIES Leg muscles

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Static analysis for a 3-RUU parallel mechanism

Static analysis for a 3-RUU parallel mechanism

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

作者： Yu, Lingtao Wang, Tao Song, Huajian Wang, Zhengyu Yu, Peng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A mathematical model of static for a parallel mechanism is generally established by using the force Jacobin matrix [1], [2], [3], which is inaccurate due to ignoring of self-gravity of the linkage [4], [5]. In this paper, based on taking self-gravity of the linkage into account, static analysis of a novel 3-DOF parallel mechanism with RUU joint structure that can perform three-dimensional translations is put forward. Based on the inverse-kinematics of parallel mechanism and forces (torques) transfer mechanism between different hinges, static model is established in order to improve accuracy of static model. Then, a numerical example is given. © 2012 IEEE.

关键词： Static analysis

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Quadratic Programming-based Approach for Autonomous Vehicle Path Planning in Space

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 665-673页

作者： CHEN Yang HAN Jianda WU Huaiyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan 430081 China Graduate School Chinese Academy of Sciences Beijing 100039 China

Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past *** major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior *** address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic ***,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP ***,the avoidance task is modeled with linear constraints in *** other constraints,such as kinematics,dynamics,and sensor range,are ***,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of *** results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required ***,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.

关键词： path planning in three-dimensional space obstacle avoidance target pursuit relative velocity coordinates quadratic programming

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4M-model based bionic design of artificial skeletal muscle actuated by SMA 1

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

作者： Zhang, Jianjun Zhu, Jianying State Key Laboratory of Mechanism System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China Mechatronics Research Institute Nanjing University of Aeronautics and Astronautics Nanjing 210016 China

ISBN: (数字)9783642335037

ISBN: (纸本)9783642335020

This paper presents a novel 4M-model based artificial skeletal muscle (AM) actuated by shape memory alloy (SMA) wires. Different from Hill-and Huxley-model, the 4M-model is developed based on the microscopic working mechanism of molecular motor (4M), which is the origin of muscle contraction. Overlapped SMA wires and custom made passive composite (CMPC) of the AM were used to mimic biomechanical characteristics of skeletal muscle, which mainly refers to force-length relationship. Experimental results of the AM demonstrate the desired performance. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Shape memory effect

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Study of high-speed loading machine's missing chip detection system based on vacuum testing

Study of high-speed loading machine's missing chip detection...

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

作者： Rong, Weibin Liu, Ruyi Fan, Zenghua Sun, Lining Department of State Key Laboratory of Robotics and System Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A method of missing chip detection based on vacuum testing is presented in the paper in view of the requirement of response time in high-speed loading machine. On the basis of analyzing the factors that influence response time in theoretical, the experimental platform of the detection system is set up. Some key factors that affect the response time are analyzed by experiments, and the improvement of experimental platform completed in final. The experimental results show that the improved detection system has faster response time on the basis of guaranteeing the stability, the response time of this system is about 38ms, and it has put into use. © 2012 IEEE.

关键词： Response time (computer systems)

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

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

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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Yang Xiao-hui Ying-xiang Liu Wei-shan Chen Jun-kao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

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.

关键词： Vibrations Ceramics Acoustics Electrodes Transducers Shape Stators

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Non-Markovian quantum input-output networks

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Physical Review A 2013年第3期87卷 032117-032117页

作者： Jing Zhang Yu-xi Liu Re-Bing Wu Kurt Jacobs Franco Nori Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology TNList Beijing 100084 China Advanced Science Institute RIKEN Wako-shi Saitama 351-0198 Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institute of Microelectronics Tsinghua University Beijing 100084 China Department of Physics University of Massachusetts at Boston Boston Massachusetts 02125 USA Physics Department The University of Michigan Ann Arbor Michigan 48109-1040 USA

Quantum input-output response analysis is a useful method for modeling the dynamics of complex quantum networks, such as those for communication or quantum control via cascade connections. Non-Markovian effects are expected to be important in networks realized using mesoscopic circuits, but such effects have not yet been studied. Here we extend the Markovian input-output network formalism to non-Markovian networks. The general formalism can be applied to various examples: (i) we show how non-Markovian coherent feedback can reduce the speed of decoherence for an atom in an optical cavity; (ii) we examine the effect of finite-cavity bandwidths in a superconducting circuit.

关键词： Atomic physics

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

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6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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