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检索条件"机构=State Key Laboratory of Robotics and System Robotics Institute"

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

ISBN: (纸本)9789881725592

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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Chaos level investigation of centre-of-pressure single-step displacement in static and dynamic visual conditions

Chaos level investigation of centre-of-pressure single-step ...

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作者： Pei, Lili Qin, Shujia Ding, Wei Miao, Lei Li, Hongyi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School of Chinese Academy of Sciences Beijing China College of Physics and Electronics Shanxi University Taiyuan China

ISBN: (纸本)9789898425362

As a convenient and feasible measure of postural control, centre-of-pressure (CoP) trajectories are investigated in most of postural research. The characteristics extracted from CoP trajectories provide valuable evidences in nature explorations of postural control. In this research, Shannon entropy is introduced into CoP trajectories analysis to reveal random characteristics of human upright postural control. In our Shannon entropy analysis, chaos level of CoP single-step displacement is inspected in static and dynamic visual conditions. Experimental results from twenty-one subjects under four visual conditions indicate that human postural control in upright stance appears more regulated in direction control than in amplitude control. This conclusion has specific significance in postural experiment design and postural control improvement.

关键词： Trajectories

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Design and implementation of complete coverage strategy for autonomous mobile robot

Design and implementation of complete coverage strategy for ...

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作者： Wang, Fei Wen, Shiguang Wu, Chengdong Guo, Liang State Key Laboratory of Integrated Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

A general scheme of complete coverage for mobile robot under unknown static environment is presented. The complete coverage problem is divided into three subproblems called region decomposition, complete coverage of subregion and subregion linking seperately. Boustrophedon decomposition method was used to decompose the region, and roundabout sweeping with forward steering combining with stream function for obstacles avoidance were adopted to complete coverage of subregion. The subregion linking was realized by point stabilization based on fuzzy logic control. Simulated coverage experiments were conducted under different conditions in Microsoft robotics Studio and simulation results demonstrate the effectiveness and robustness of the proposed scheme. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

引用

2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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An H∞ Control Model of Human Postural Control in Quiet Upright Standing

An H∞ Control Model of Human Postural Control in Quiet Upri...

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2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Yanhua Yang Lili Pei Hongyi Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shen Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 P.R. China

An understanding of human postural control in quiet upright standing is very valuable for human being. This paper proposes a new control model of human postural control in quiet upright standing. An H state feedback control problem is proposed as a mathematical model of human postural control during quiet upright standing. An inverted pendulum controlled by a joint torque is used to model the human body and an H∞ state feedback controller is used to model the central nervous system (CNS). At the same time, time-varying delay is considered. Then, the problem addressed here is design of a state feedback H∞ controller so that the closed-loop system is exponentially stable with a prescribed H∞ performance and can simulate human CNS in postural control in term of linear matrix inequality (LMI). Finally, the Stabilogram Diffusion Function (SDF) is used to analyze the results, which demonstrates the validity of the proposed design approach. The major contributions of this method are that an H∞ state feedback controller is commendably used to model human CNS of postural control in quiet upright standing and synchronously varying time delay is considered.

关键词： human postural control H∞ control LMI CNS SDF.

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Input Assignability of Nonlinear system and Its Applications in Robust/Tracking Control

Input Assignability of Nonlinear System and Its Applications...

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第八届IEEE信息与自动化国际会议(ICIC 2011)

作者： Yuqing He Jianda Han State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangLiaoning 110016China

ISBN: (纸本)9781457702686

It’ s well known that measured or estimated uncertainty information is absolutely beneficial to design robust ***,few researches have been conducted on that due to the difficulties of obtaining uncertainty *** recently,development of observation/estimation and measurement techniques (especially for nonlinear systems)make it possible to get full or partial uncertainty ***,in this paper,a new concept of input assignability is introduced and used to design robust controller for nonlinear *** main idea of this new control scheme is firstly presented with respect to two typical nonlinear systems;subsequently,it is generalized and combined with the input-output finite gain L2 stable control to attenuate disturbances without deteriorating closed loop performance greatly;finally,experiments on a inverted pendulum testbed are carried out and the results verify feasibility and validity of the proposed scheme.

关键词： Robust control external inputs nonlinear system tracking control external input tracking control Robust control Robust controllers Measurement techniques

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Motion control research of internal force-static friction capsubot in intestine

Motion control research of internal force-static friction ca...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Cheng Zhang Gang Su Hongyi Li State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy and Sciences Shenyang Liaoning China

Capsule endoscopy plays a more and more important role in the diagnosis of diseases in gastro-intestinal (GI) tract. However, autonomic movement ability of the capsule endoscopy is needed in clinic urgently because of the defects of the passive capsule endoscope. We design a novel active capsule endoscopy (capsubot) called the “internal force-static friction” capsubot that moves in way of impact. A physical simulation measurement system is fabricated to measure the friction when the capsubot moves in the intestine. According to the simulation results that based on the parameters we get from the experiment, we optimize the structure of the driver and control method. Then the capsubot can get the best motion effect in the intestine in vitro.

关键词： Force Coils Superluminescent diodes Intestines

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The application of real-time operating system QNX in the computer modeling and simulation

The application of real-time operating system QNX in the com...

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International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC)

作者： Mingxin Hou Fenglei Ni Minghe Jin Li Jiang Hong Liu Yue Jin Mingbo Hou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Robotics and Mechatronics German AeroSpace Center Munich Germany College of Electromechanical Engineering China University of Petroleum China Department of Electronic Engineering University of York UK

The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX real-time system. Simulations in the QNX real-time system show that the HIT/DLR Hand II dexterous hand QNX model which based on the methods in this research, was able to offer an attractive performance during both real-time simulation and feedback operations.

关键词： Mathematical model Real time systems Computational modeling Robots Operating systems Conferences Joints

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Assembly and fabrication of single-wall carbon nanotube field effect transistor using dielectrophoresis method

Assembly and fabrication of single-wall carbon nanotube fiel...

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9th Chinese International Nanoscience and Technology Symposium and the Nano-Products Exposition

作者： Xu, Ke Dong, Zaili Tian, Xiaojun Liu, Jian Wu, Chengdong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of the Chinese Academy of Sciences Beijing 100039 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

On account of their sizes and unique properties, single-wall carbon nanotubes are candidates for a number of building blocks in nanoscale electronics. With respect to the assembly of carbon nanotube field effect transistor, the dielectrophoresis technology is adopted, which assembles SWCNTs between the microelectrodes, SWCNTs are affected by the electrophoretic force which is carried out by the related theoretical analysis in a nonuniform electric field. The driving electric field of dielectrophoresis is simulated by the comsol software. According to the simulation results, a number of the experiments are done. The applied alternating current voltage has a frequency of 2MHzand an amplitude of 10 V. It turns out that the required experimental parameters of the efficient assembly of SWCNT are obtained. AFM scanning and electrical properties of SWCNTs show that the method can achieve the effective assembly of carbon nanotube field effect transistor. SWCNTs are driven in the microelectrode gap, having a good arrangement of uniform orientation and assembly results, and proportional to the arrangement density along the electrode width direction and the duration of DEP. As a result, it also provides an effective method of assembly and fabrication for other one-dimensional nanomaterials assembly of nanoelectronic devices. Copyright © Taylor & Francis Group, LLC.

关键词： Electrophoresis

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Nanochannel system fabricated by MEMS microfabrication and atomic force microscopy

Nanochannel system fabricated by MEMS microfabrication and a...

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作者： Wang, Z. Wang, D. Jiao, N. Tung, S. Dong, Z. Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang 110016 China Graduate University Chinese Academy of Sciences Beijing 100049 China University of Arkansas Department of Mechanical Engineering Fayetteville AR 72701 United States

A silicon nanochannel system with integrated transverse electrodes was designed and fabricated by combining micro-electro-mechanical systems (MEMS) micromachining and atomic force microscopy (AFM)-based nanolithography. The fabrication process began with the patterning of microscale reservoirs and electrodes on an oxidised silicon chip using conventional MEMS techniques. A nanochannel, approximately 30m long with a small semi-circular cross-sectional area of 20nm×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 pressurising a solution of fluorescein isothiocyanate in ethanol through the nanochannel in a vacuum chamber. It was further demonstrated by translocating negatively charged nanobeads (diameter ∼20nm) through the nanochannel by using an external DC electric field. The passage of the nanobeads caused a sharp increase in the transverse electrical conductivity of the nanochannel. © 2011 The Institution of Engineering and Technology.

关键词： Atomic force microscopy

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