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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Guizhi Yang Shugen Ma Bin Li Minghui Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. He is also with Graduate University of Chinese Academy of Sciences Beijing 100039 China Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan. He is also with State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9781467317375

Connectionist Central Pattern Generator models (CCPG) are helpful to understand how the CPG neural mechanism functions, and have relatively small complexity which makes them suitable for controlling snake-like robots. However, there are few CCPG models are constructed to generate the snake-like robot's three-dimensional gaits, which are important for adapation, and their gaits generation ability is also very inadequate. According to the CPG mechanism, a hierarchical CCPG model (HCCPG) with small complexity is proposed to implement the three-dimensional gaits better. The HCCPG has a two-layers structure, namely the basic rhythmic signal generation layer and the output signal modulation layer. The HCCPG can generate three-dimensional gaits well and is extendable. Based on the HCCPG, a three-dimensional gait control method is proposed. The simulations and experiments validate this method.

关键词： CPG have relatively their gaits

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Tracking control of a compliant XY nano-positioner under plant uncertainty using a transfigured loop-shaping H∞ controller

Tracking control of a compliant XY nano-positioner under pla...

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2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Tang, Hui Li, Yangmin Yang, Qinmin Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Taipa China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781467304283

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedded piezoelectric ceramic actuators (PZT) are adopted. Based on the identified plant transfer function of the nano-positioner, the presented control strategy and the traditional PID controller are implemented with different input scanning frequencies of 0.5 Hz and 2.5 Hz for comparisons. Both the simulation results and the practical experimental results demonstrate that the presented TLSH control method obviously performs better than the traditional PID method in the presence of plant model uncertainty, which will be applied to perform practical micromanipulation tasks. © 2012 IEEE.

关键词： Controllers

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A Literature Review on Fault Diagnosis Methods for Manned and Unmanned Helicopters

A Literature Review on Fault Diagnosis Methods for Manned an...

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International Conference on Unmanned Aircraft systems

作者： Xin Qi Didier Theilliol Juntong Qi Youmin Zhang Jianda Han University of Chinese Academy of Sciences CRAN UMR 7039 CNRS University of Lorraine Faculte des Sciences et Techniques B.P. 70239 54506 VANDOEUVRE-LES-NANCY France State Key Laboratory of Robotics Shenyang Institute of Automation(SIA) Chinese Academy of Sciences(CAS) 110016 Shenyang Liaoning Province P.R.China Department of Mechanical and Industrial Engineering Concordia Institute of Aerospace Design and Innovation (CIADI)Concordia University 1455 de Maisonneuve Blvd. W. Montreal Quebec H3G 1M8 Canada

ISBN: (纸本)9781479908158

In the past two decades, the reliability and safety of helicopters have attracted the attention of many researchers. Especially with the development of Unmanned Helicopters, Fault Diagnosis approaches were used for manned or unmanned helicopter platforms. In this paper, a brief state-of-the-art on Fault Diagnosis approaches is presented for helicopters, including analytical model-based, signal processing-based and knowledge-based Fault Diagnosis approaches. A short description of fault types is presented before the main part of the review.

关键词： Literature Review Fault

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Structuring of carbon nanotubes for field emission based movement sensors

Structuring of carbon nanotubes for field emission based mov...

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9th International Multi-Conference on systems, Signals and Devices, SSD 2012

作者： Loschek, Sergei Hermann, Sascha Yu, Haibo Schulz, Stefan E. Gessner, Thomas Chemnitz University of Technology Center for Microtechnologies 09126 Chemnitz Germany Graduate University Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110016 Shenyang China 09126 Chemnitz Germany

ISBN: (纸本)9781467315906

This paper addresses the exploitation of the field emitting properties of carbon nanotubes for movement sensor applications. To utilize this transducer principle a well defined gap between the field emitting carbon nanotubes and the counter electrode must be formed. Three different methods to dissect the dielectrophoretically deposited carbon nanotubes in a reproducible way are presented. © 2012 IEEE.

关键词： Electrophoresis

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Working principle and design of a double cylinders type traveling wave ultrasonic motor using composite transducer

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Journal of Harbin institute of Technology(New Series) 2011年第2期18卷 28-32页

作者：陈维山刘英想刘军考石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

A double cylinders type traveling wave ultrasonic motor using composite transducer was *** proposed stator contained two cylinders and one composite transducer,and the transducer located on the outer surfaces of *** composite transducer included two exponential horns located on leading ends,and the horns insected with the cylinders at tip *** degenerated flexural vibration modes spatially and temporally orthogonal to each other were excited in each cylinder by the composite *** this new design,a single transducer could excite two flexural traveling waves in the ***,elliptical motions were achieved at the particles on the *** working principle of the proposed motor was *** cylinder and transducer were designed with *** resonant frequencies of two vibration modals of the stator were tuned to be the same,and the motion trajectories of nodes on the teeth were *** analysis results show that the motion trajectories of teeth are *** results of this paper can guide the development of this new type of ultrasonic motor.

关键词： ultrasonic motor traveling wave double cylinders composite transducer FEM

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A ring type standing wave ultrasonic motor using cantilever type longitudinal transducers

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Journal of Harbin institute of Technology(New Series) 2011年第1期18卷 52-56页

作者：刘英想刘军考陈维山石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

The disadvantages of classic ring type ultrasonic motor were *** obtain large mechanical output power,a ring type standing wave ultrasonic motor using cantilever type longitudinal transducers was *** are four pairs of cantilevers on one side of the ring,and four PZT ceramics are set between each pair of cantilevers.A screw fastened the PZT ceramics and cantilevers together to form a longitudinal *** bending vibration mode of the ring is excited by the stretching vibration of the PZT ***,linear simple harmonic motions are achieved at the particle on the *** the driving force is the frictional force between rotor and *** working principle of the proposed motor was *** ring and the longitudinal transducer were designed with *** sensitive parameters of resonant frequency of the transducer and ring could be gained with modal *** longitudinal vibration modal of transducer and bending vibration modal of ring were degenerated,and the motion trajectories of nodes on the teeth were *** results of this paper could guide the development of this new type of motor.

关键词： ultrasonic motor standing wave ring type vibration characteristic FEM

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Actuating mechanism and design of a T-type linear ultrasonic motor

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Journal of Harbin institute of Technology(New Series) 2011年第2期18卷 43-46页

作者：刘英想刘军考陈维山石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

To take advantage of merits of higher output-power and efficiency of bolt-clamped transducer,a T-type linear ultrasonic motor was proposed in this *** proposed motor contained a horizontal transducer and a vertical *** horizontal transducer included two exponential shape horns,and the vertical transducer contained one exponential shape *** the horns intersected at tip ends where a driving foot was *** longitudinal vibrations of transducers were excited by the stretching vibration of PZT *** vibrations were superimposed in the motor and generated elliptical trajectory at the driving *** actuating mechanism of the proposed motor was *** two working modals of the motor were gained with *** resonant frequencies of two working modals were degenerated by adjusting the structural *** motion trajectory of nodes on the driving foot was gained by transient *** vibration amplitude of node on the driving foot indicates that the proposed motor has potential good output *** results verify the feasibility of the proposed design and provide instructions for the development of the new ultrasonic motor.

关键词： ultrasonic motor linear T-type longitudinal transducer FEM

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On set-point tracking control of dexterous robot hand

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Journal of Harbin institute of Technology(New Series) 2011年第5期18卷 61-64页

作者：姜力潘军 State Key Laboratory of Robotics and System Harbin Institute of Technology

A model-free set-point tracking control approach of multi-fingered robot hand is *** set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control *** controller does not require the explicit use of dynamic modeling *** performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.

关键词： tracking control robot hand kinematics

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Object tracking via online metric learning

Object tracking via online metric learning

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IEEE International Conference on Image Processing

作者： Yang Cong Junsong Yuan Yandong Tang Nanyang Technological University Singapore State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

By considering visual tracking as a similarity matching problem, we propose a self-supervised tracking method that incorporates adaptive metric learning and semi-supervised learning into the framework of object tracking. For object representation, the spatial-pyramid structure is applied by fusing both the shape and texture cues as descriptors. A metric learner is adaptively trained online to best distinguish the foreground object and background, and a new bi-linear graph is defined accordingly to propagate the label of each sample. Then high-confident samples are collected to self-update the model to handle large-scale issue. Experiments on the benchmark dataset and comparisons with the state-of-the-art methods validate the advantages of our algorithm.

关键词： Visualization Testing Object tracking Semisupervised learning Target tracking Training

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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML Automation

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