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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Yin, Peng Wang, Pengfei Li, Mantian Sun, Lining State Key Lab. of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified. © 2011 IEEE.

关键词： Motion planning

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Global shape reconstruction of nano grid with singly fixed camera

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Science China(Technological Sciences) 2011年第4期54卷 1044-1052页

作者： WEI YangJie WU ChengDong DONG ZaiLi Graduate School of Chinese Academy of Sciences & the State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China School of Information Science & Engineering Northeast UniversityShenyang 110004China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

Depth from defocus(DFD),as a typical shape reconstruction method,has been widely researched in most recent ***,all the existing DFD algorithms require at least two defocused images with different camera ***,in micro/nano manipulation,any change on visual sensor's parameters is absolutely ***,a novel DFD method to reconstruct the shape of a nano grid on micro/nano scale is researched in this ***,the blurring imaging model is constructed with the relative blurring and the diffusion ***,the relationship between depth and blurring is discussed from four ***,depth measurement problem is transformed into an optimization issue which is solved using the gradient flow ***,experiment results and error analysis are conducted to show the feasibility and effectiveness of the proposed method.

关键词： depth from defocus diffusion equation shape reconstruction nano grid

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An automatic compensation method on compression effect and surface elasticity measurement based on the deflection signal of AFM

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Science China(Technological Sciences) 2011年第9期54卷 2397-2403页

作者： WEI YangJie WU ChengDong DONG ZaiLi Graduate School of Chinese Academy of Sciences & the State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China School of lnformation Science & Engineering Northeast University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

Atomic force microscope （AFM）, as an important instrument in micro/nano operation, has been widely used to measure sampie＇s height information. However, the so called compression effect, due to force aroused from the contact of AFM tip with a sample surface, would result in imprecision of the surface＇s height measurement, i.e., the measured height is lower than expected. Up to now, there is not any effective and rapid method to attenuate this kind of measurement error. Thus, in this paper, an algorithm to obtain high accurate height measurement is proposed. Firstly, the concept of force curve is used to analyze the basic principle of the compression effect. Secondly, an automatic compensation method by fusing the height signal and the deflection signal is proposed. The proposed algorithm can also be used to obtain a surface elasticity image. Finally, in order to validate the proposed method, two experiments are conducted with respect to mufti-wall nano-carbon tubes on a silicon substrate and graphemes on a mica substrate.

关键词： atomic force microscope （AFM） compression effect information fusion surface elasticity

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Rapid micro-patterning of a conductive PANI/MWNTs-polymer composite using an optically-induced electrokinetics chip

Rapid micro-patterning of a conductive PANI/MWNTs-polymer co...

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IEEE Nanotechnology Materials and Devices Conference (NMDC)

作者： Na Liu Wenfeng Liang John D. Mai Zaili Dong Wen J. Li Gwo-Bin Lee State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong China Department of Power Mechanical Engineering National TsingHua University Hsinchu Taiwan

ISBN: (纸本)9781467328715

A flexible, dynamically programmable and low-cost method applicable to micro-patterning of a conductive polymer/carbon nanotube composite solution is significant due to the potential applications in many areas. This paper demonstrates a new micro-patterning method for fabricating electrodes from a conductive polyaniline (PANI)/MWNT composite using an optically-induced electrokinetics (OEK) chip. This method quickly patterns flexible polymeric electrodes with different geometries when a square waveform signal with amplitudes from 16-20 Volts and frequencies from 20-30 kHz are applied. The geometric dimensions of the electrodes can be varied dynamically by controlling the size and exposure time of the light pattern. The surface morphology of electrodes patterned by this method is scanned by an atomic force microscope (AFM) and a scanning electron microscope (SEM) which show that the electrodes are uniform and continuous. Furthermore, the geometric dimensions and resistances of the electrodes are measured and analyzed. Experimental results reveal that the relationship between the resistance and geometries of the electrodes obey Ohm's law and the resistivity of the electrodes is about 0.03Ω·m.

关键词： Electrodes Scanning Electron Microscope Atomic Force Microscopy Surface morphology electrokinetics conductivity polymer composite Computer chips DNA Microarrays Composites exposure time OHM'S LAW

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Algorithm analysis for a rover simulation platform

Algorithm analysis for a rover simulation platform

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Gao, Haibo Li, Weihua Ding, Liang Deng, Zongquan Liu, Zhen Guo, JunLong Research Center of Aerospace Mechanism and Control State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612840857

In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable. © 2011 IEEE.

关键词： Rovers

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Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 546-552页

作者： CAO Zhengcai ZHAO Yingtao WU Qidi College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China CIMS Research Center Tongji University Shanghai 200092 China

As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot.

关键词： nonholonomic mobile robot trajectory tracking model reference adaptive

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Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot

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Science China(Technological Sciences) 2011年第3期54卷 610-624页

作者： LI ZhiQing MA ShuGen LI Bin WANG MingHui WANG YueChao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan Graduate School of the Chinese Academy of Sciences Beijing 100039 China

To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.

关键词： self-adaptive mobile mechanism transformable track wheel-track hybrid robot mechanism design

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Piezo-powered Micro-dissection system with ultrasonic vibration

Piezo-powered Micro-dissection system with ultrasonic vibrat...

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作者： Chen, Liguo Liu, Yaxin Sun, Lining Robotics and Microsystems Center Soochow University Suzhou 215021 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

In biomedical areas, Micro-dissection technology plays an important role for Cancer Genomics, through which pure population of targeted cells can be procured from tissue sections for subsequent analysis. In this paper, a novel Piezo-powered Micro-dissection system using ultrasonic vibration was developed. First, the Piezo-powered Micro-dissection principle and system construction will be introduced briefly. Then the key component of the system, piezo-powered micro-dissection tool, is proposed in detail. The micro-dissection tool could vibrate with the frequency scope from 0.5k to40K and the amplitude scope from 0 to 2m. Finally, a variety of experiments about bio-micro-dissection on liver tissue slice were carried out, and the experiments show the feasibility of the micro-dissection method with ultrasonic vibration. The new micro-dissection method can be adopted in the bio-micro-manipulation field and it can also significantly promote the development of Biomedical Engineering. © 2011 Chinese Assoc of Automati.

关键词： Microdissection

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A circular bend mode piezoelectric micro-droplet ejection generator for spatial lubrication

A circular bend mode piezoelectric micro-droplet ejection ge...

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Sheng, Mingwei Chen, Weishan Liu, Junkao Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology 92 West Da-Zhi Street Harbin 150001 China

ISBN: (纸本)9781612840857

The paper reaches into a circular bend mode piezoelectric micro-droplet ejection generator, and a complete relation model from the voltage pulse applied on the piezoelectric transducer to ejection parameters of high viscosity aerospace lubricant droplet was established. Based on the Finite Element Analysis (FEM), transient response analysis of FEM modal was carried out, and the vibration equation of circular piezoelectric transducer was obtained by means of curve fitting. Multi-phase computational fluid dynamics (CFD) software was involved, and the gas liquid two-phase flow near the nozzle was established. To solve the interface movements with continuing topology changes, volume-of-fluid method (VOF) along with the piecewise linear interface construction (PLIC) techniques were implemented to describe the interfacial movements. A computational approach based on VOF method was applied to analyze the ejection process of lubricant droplet. And the effects of internal factors consist of dynamic viscosity and surface tension on the ejection parameters were investigated emphatically. © 2011 IEEE.

关键词： Finite element method

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Investigation of hybrid Solar-Wind power generation systems for the polar expedition robot

Investigation of hybrid Solar-Wind power generation systems ...

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作者： Liang, Jianhong Zhong, Qiliang Wang, Liewu Robotics Institute Beihang University Beijing China China State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9781880653968

In order to develop a self-sufficient autonomous mobile robot which has long working ability and can work on the polar ice caps, important data of the distributed density of the new energy and characteristic of renewable energy within the working area scope of the robot should be seriously considered. In this paper, we design a novel hybrid Solar-Wind power generation system that is capable of data acquisition of the battery charging and data transferring by satellite. This system has the capacity of automatically recording and transferring the information of its battery series, and is installed in Chinese Zhongshan station that is located in the Antarctic. The experimental results show that the Solar & Wind energy could be continuously captured by the system;meanwhile, the possible power consumption of the mobile polar expedition robot is also evaluated and analyzed. The system also provides useful renewable power data for the implementation of future polar expedition robot which aims to have infinite working ability. Copyright © 2011 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Data acquisition

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