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The 2011 International Conference on Mechanical Engineering and Technology

作者： Yuanfei Zhang Yiwei Liu Hong Liu Yue Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center DLR College of Electromechanical Engineering China University of Petroleum

In this study, a structure of a thin and flexible tactile sensor using pressure conductive rubber is presented. The sensor can cover specific three-dimensional surface, has a total of 36 elements and can measure the pressure in the range 0-600 k Pa, approximately. In order to compare the performance of the voltage feedback methods and the zero potential method, which presented in the literature are applied to weaken the crosstalk effect in a resistive array, some simple circuits are structured based on these methods, respectively. Then the effect of some circuit parameters on measurement errors of each circuit is simulated and analyzed and the performance of the circuits to weaken the crosstalk effect is compared. According to the simulation results, the performance of the circuit based on the voltage feedback non-scanned-sampling-electrode method is the best than any others. Therefore, a tactile signal acquiring and processing circuit based on this method is design. At last, experimental results that the crosstalk affects the measurement errors of this circuit are given.

关键词： Dexterous robot hand Tactile sensor Crosstalk

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Study on optimization of prospective track tension for reconfigurable stair-negotiation wheelchair

Study on optimization of prospective track tension for recon...

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2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011

作者： Wang, Ting Yu, Suyang Yao, Chen Li, Xiaofan Wang, Zhong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Liaoning 110016 China Graduate School Shenyang Institute of Automation Chinese Academy of Science Liaoning 110016 China

ISBN: (纸本)9781457717017

To solve the problem of track tension optimization of a reconfigurable wheelchair using variable-geometry-tracked mechanism while stair-negotiating, some fundamental research has been performed. The process of stair negotiation is divided into three phases, then the locomotion and transformation rules for reconfigurable wheelchair are presented. After the parameters affecting track tension have been put forward, the static models for each phase of stair negotiation are established, as well as the optimization results. The Simulation shows the variation of track tension for each phase of stair negotiation. Eventually, the minimal track tension for each phase is obtained. Simulation results provide the foundation for real-time control of track tension for reconfigurable wheelchair while stair-negotiating. © 2011 IEEE.

关键词： Stairs

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Efficient Registration Algorithm for UAV Image Sequence

Efficient Registration Algorithm for UAV Image Sequence

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第八届IEEE信息与自动化国际会议(ICIC 2011)

作者： Baojie Fan Yandong Tang Yingkui Du State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Science110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Science 110016

ISBN: (纸本)9781457702686

This paper presents a fast and efficient image registration algorithm for UAV image *** proposed algorithm consists of three main steps:feature extraction,feature point tracking,and homography matrix *** to the comparison with different feature points,we choose the KLT feature and track them during the consecutive *** the correct tracked feature points,the Total Least Squares (TLS)method is used to estimate homography matrix between two consecutive images,and then the multi-view constraint is used to refine the result and reduce the accumulative error in the image *** method is robust and with less iteration times. Experiments on different image sequences indicate that our method has satisfactory image registration results with the average time 0.3s.

关键词： KLT feature point track Total Least Squares image registration multi-view constraint image registration image sequences Feature Points cumulative error homography

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Application of a novel capacitive sensor in precise positioning systems

Application of a novel capacitive sensor in precise position...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Tao Chen Liguo Chen Mingqiang Pan Lining Sun Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Transducer Technology Chinese Academy and Sciences Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a comb-finger capacitive displacement sensor used in nano-positioning system. The displacement sensor is designed to develop an integrated implementation platform and to achieve its closed-loop control. In the design, offset constant-tooth, combinations with S-type beams and flexible cantilevers have been adopted to enhance the position range and structure performance. Surface and bulk micromachining technology is employed to fabricate the sensor from a single crystal silicon wafer. Through testing of the nano-positioning stage, the capability of the sensor has been obtained. The results show that this method can achieve a detect range of 10 μm, with resolution of 5 nm.

关键词： Electrodes Robot sensing systems Capacitance Sensitivity Capacitive sensors Structural beams Silicon

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Toward a Generalized Architecture for Unmanned Underwater Vehicles

Toward a Generalized Architecture for Unmanned Underwater Ve...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Changlong Lin Xisheng Feng Kaizhou Liu Yiping Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenya State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenya

A common feature of unmanned vehicles is their complexity, which grows apace and provides its own challenges. Frameworks for managing this growing complexity have always been one of the key aspects of designing an unmanned vehicle. In this paper, a generalized architecture is proposed to not only address the complexity in developing an unmanned vehicle, but also support the algorithm exchange and technology transfer for integrating efforts from different researchers. We first detail the autonomic element, which is the fundamental unit of the architecture. Then the architecture is constructed, and thorough discussions are given. Finally, simulations on a semi-physical platform are carried out to examine the performance of this architecture.

关键词： Vehicles Computer architecture Control systems Estimation Global Positioning system Predictive models Complexity theory

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Design and implementation of multiple-rotorcraft-flying-robot testbed

Design and implementation of multiple-rotorcraft-flying-robo...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zheng Gu, Feng He, Yuqing Han, Jianda Wang, Yuechao Graduate School of Chinese Academy of Sciences Shenyang Liaoning 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China

ISBN: (纸本)9781457721373

In this paper, a multiple-rotorcraft-flying-robot (MRFR) testbed is introduced. Firstly, physical structure, as well as hardware and software system, is described in detail. Subsequently, in order to realize the autonomous flight of each single rotorcraft-flying-robot (RFR), modeling, identification and flight control experiments are conducted. Then, formation flying demonstration is presented to verify the basic functions of the new-designed MRFR testbed. Finally, two points should be emphasized: 1) both cooperation/coordination algorithm of MRFR and advanced flight control algorithm of single RFR can be verified on this testbed;2) experiments on this testbed can approach real flight test much better because three real RFR systems are used. © 2011 IEEE.

关键词： Testbeds

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Numerical Study of a Dielectrophoresis Separation Device at Multiple Frequencies

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Procedia Engineering 2011年 15卷 341-345页

作者： Baoyu Song Deli Liu Lining Sun Liguo Chen Department of Mechanical Design Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

This paper presents a novel dielectrophoresis (DEP) chip for lateral separation of cells/particles at multiple frequencies. DEP force was enabled by interdigitated electrodes fabricated in the access channel. The non-uniform electric field distribution in the micro-channel is solved through finite element analysis. To improve the effectiveness of separation, the shape of insulators is optimized and other parameters such as the width of the electrodes are studied by introducing parameter K which can stand for the DEP force imposed on cells/particles. It is proved that planar electrodes can take place of 3D electrodes under certain condition. Furthermore functions realized by 3D electrodes can also be achieved by simple planar electrodes.

关键词： Lab-On-Chip Dielectrophoresis Particle focusing

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Theoretical and experimental study of uncertain set based moving target localization using multiple robots

Theoretical and experimental study of uncertain set based mo...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Gu, Feng Wang, Zheng He, Yuqing Han, Jianda Wang, Yuechao Graduate School of Chinese Academy of Sciences Shenyang Liaoning 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China

ISBN: (纸本)9781457721373

In this paper, multiple robots cooperation based moving target localization problem is researched. Different from traditional statistics based architecture, the concept of uncertain set is utilized in this paper to formulate the so called Cooperative Enhanced Set Membership Filter based cooperative localization algorithm. One of the most attracting advantages of this method is that it assumes the measurement errors are modeling as unknown-but-bounded set, instead of requiring the errors' covariance to be obtainable beforehand, which is general in statistics based algorithm, such as Kalman Filter and Particle Filter. Furthermore, some strategies, which is originated from the update process of the ESMF algorithm itself, are proposed to improve the computational efficiency and localization accuracy. Finally, an original experimental scenario is designed with respect to an indoor multiple-rotorcraft-platform and the results are listed out and analyzed in detail to verify the feasibility and validity of the proposed algorithm. © 2011 IEEE.

关键词： Kalman filters

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An Approach for Determining the Next Best View Based on Voxel Map and Simplex Method

An Approach for Determining the Next Best View Based on Voxe...

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The 2011 International Conference on Automation and robotics(ICAR 2011)

作者： Shihui Zhang Xiaowei Qu State Key Laboratory of Robotics and System (HIT) College of Information Science and Engineering Yanshan University

Aiming at the problem of the next best view, an approach for determining the next best view is proposed by using voxel map and simplex method. Firstly, a range image of the scene is obtained, then a voxel map is created according to the range data and related voxel information is obtained. Secondly, an objective function which considers area, quality, overlap, occlusion, navigation and other factors is defined, and the problem of the next best view is abstracted to the optimization solving problem of objective function. Finally, the simplex method is applied to optimize the objective function. The direction and position corresponding to the optimal solution of the objective function is the next best view. Experimental results show that the proposed approach is feasible and effective.

关键词： range image voxel map next best view objective function simplex method

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Experimental study of vision sensor based multiple robots active cooperative observation using multi-RFRs testbed

Experimental study of vision sensor based multiple robots ac...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Gu, Feng Wang, Zheng He, Yuqing Han, Jianda Wang, Yuechao Graduate School Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China State Key Laboratory of Robotics Shenyang Institute Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China

ISBN: (纸本)9781457721373

An experimental study of an active cooperative observation approach based on Extended Set-Membership Filter (ESMF) is completed. In the experiment, the two RFRs can keep the optimal observation formation while achieving the cooperative observation so that the observation accuracy is improved further. The most attracting advantages in this video is that the experimental results on the testbed showed the proposed method can achieve data fusion well to improve the observation accuracy and the real time performance and observation accuracy can meet the requirement of on-line application. © 2011 IEEE.

关键词： Testbeds

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