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2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011

作者： Chen, Jun Chen, Tao Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769544557

A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes. © 2011 IEEE.

关键词： Machine design

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Separate DOF Control and Mutual Guidance in Networked Haptic Collaboration Maze Game: Design and Evaluation

Separate DOF Control and Mutual Guidance in Networked Haptic...

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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： Lingzhi Liu Guanyang Liu Yuru Zhang Weidong Guo Keke Lu Moyuan Zhou State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang UniversityChina

ISBN: (纸本)9781612843865

In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaboration mode of manipulation – separate DOF control is proposed for the first time. Separate DOF control here means each player controls one DOF of an object or a task independently in collaborative virtual environment. Mutual guidance is also proposed which provides guidance force to each player. We setup an experiment to evaluate its efforts on cooperation performance and co-presence. Twelve participants did the experiment. The results revealed that this collaboration mode is effective. Ten of the twelve participants believed that they performed well in the experiment and thought the collaboration way was very interesting. The presented results motivated a new haptic collaboration mode in the fields of game design, education and cooperative assembly.

关键词： Control Networked Evaluation Hunting Game theory Game animals DEPTH OF FIELD Guidance Mazes haptic device Players Haptic Device Component

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Movement coupling analysis on the wrist of 165Kg spot welding robot

Movement coupling analysis on the wrist of 165Kg spot weldin...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Li Cheng Hongguang Wang Yuwang Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

The driven system of 165Kg spot welding robot is introduced and the movement coupling of the wrist is analyzed in detail. The influence formulas of movement coupling to each joint of the wrist are derived theoretically. Furthermore, the kinematics simulation of the wrist is carried out by the software of Solidworks. The simulation results are in agreement with the theoretical calculation, which proves the validity of the transmission analysis. These can be used as reference for transmission design and motion control of industrial robots.

关键词： Joints Wrist Couplings Gears Kinematics Service robots

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The application of Polar-ARV in the fourth Chinese National Arctic Expedition

The application of Polar-ARV in the fourth Chinese National ...

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OCEANS

作者： Junbao Zeng Shuo Li Yuangui Tang Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781457714276

In August of 2010 Polar-ARV participated in the 4 th Chinese National Arctic Expedition(CHINARE)for the second time. It accomplished the observation of 17 horizontal sections under sea ice at latitude of about 87 degrees north. During Polar-ARV working under the sea ice, the seawater temperature, salinity, pressure, sea ice thickness and ice optical properties, as well as the video of sea ice were Synchronously collected with accurate position information, According to these scientific data scientists can do further analysis and research for the change of sea ice. This paper describes the application of Polar-ARV in the 4 th CHINARE and the results of Arctic test.

关键词： Sea ice Arctic Trajectory Navigation Vehicles

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A nanochannel system fabricated by MEMS microfabrication and atomic force microscopy

A nanochannel system fabricated by MEMS microfabrication and...

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6th IEEE International Conference on Nano/Micro Engineered and Molecular systems, NEMS 2011

作者： Wang, Zhiqian Wang, Dong Jiao, Niandong Tung, Steve Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate University of the Chinese Academy of Sciences 100049 China Department of Mechanical Engineering University of Arkansas Fayetteville AR 72701 United States

ISBN: (纸本)9781612847757

A silicon nanochannel system with integrated transverse electrodes was designed and fabricated by combining MEMS microfabrication and AFM nanolithography. The fabrication process began with the patterning of microscale reservoirs and electrodes on an oxidized silicon chip using conventional MEMS techniques. A nanochannel, approximately 30m long with a small semi-circular cross-sectional area of 20nm by 200nm, was then mechanically machined on the oxide surface between the micro reservoirs by applying AFM nanolithography with an all-diamond probe. Anodic bonding was used to seal off the nanochannel with a matching Pyrex cover. Continuous flow in the nanochannel was verified by pressurizing a solution of fluorescein isothiocyanate (FITC) in ethanol through the channel in a vacuum chamber. It was further demonstrated by driving carboxyl-modified FluoSpheres® (diameter ∼20 nm) through the nanochannel with an external electric field. Presence of the FluoSpheres® in the channel was indicated by a sharp increase in current between the transverse electrodes. © 2011 IEEE.

关键词： Atomic force microscopy

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Virtual nano-hand: A stable pushing strategy in AFM based sensorless nanomanipulation

Virtual nano-hand: A stable pushing strategy in AFM based se...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

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Distributed Receding Horizon Formation Control for Multi-Vehicle systems with Relative Model

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IFAC Proceedings Volumes 2011年第1期44卷 13576-13581页

作者： Zheng. Wang Yuqing. He Jianda Han Graduate school of Chinese Academy of Sciences and State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 P.R.China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 P.R.China

Abstract In this paper, a new distributed receding horizon formation control scheme is introduced using relative dynamical model instead of absolute dynamical model of each member robot in most existing formation control algorithms. Convergence of the proposed distributed receding horizon formation control (DRHFC) is implemented using some additional control input constraints, and the relative dynamical model is used to relieve the performance degradation due to huge computational burden and heavy measurement noises. In order to verify the feasibility and validity of the proposed algorithm, a simulation is conducted and compared to the formation control with absolute dynamical models.

关键词： distributed receding horizon control formation control relative dynamics

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Servo system of 6 DOF Electro-hydraulic Shaking Table

Servo System of 6 DOF Electro-hydraulic Shaking Table

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Liyi Yin Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom(DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a realtime PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST.

关键词： Electro-hydraulic shaking table,decouple control,identification

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Message from ICME 2011 general chairs

Message from ICME 2011 general chairs

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Irene Cheng Gabriel Fernandez Haohong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Dep. of Intelligent Mechanical System Engineering Kochi University of Technology Japan

On behalf of the Organizing Committee, it is our great pleasure to welcome you to the 2011 IEEE International Conference on Multimedia and Expo (ICME 2011). ICME is sponsored by four IEEE societies: Signal Processing, Circuits and systems, Computer and Communications. It is the premier forum for the presentation of the latest advances in multimedia technologies, systems, and applications from both the research and development perspectives. ICME 2011 is the twelve in the series that has been held annually since 2000, after New York, Tokyo, Lausanne, Baltimore, Taipei, Amsterdam, Toronto, Beijing, Hannover, New York City and Singapore. We are glad that from July 11 th to 15 th , 2011 Barcelona will be the home of the latest research in multimedia technologies.

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Study of Thrust Lever Control Loading system in Flight Simulator

Study of Thrust Lever Control Loading System in Flight Simul...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Jinsong Zhao Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called Sim Mechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque.

关键词： Flight simulator Control Loading system thrust lever current loop simulation model

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