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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Fuyun Zhu Chen Wang Min Yu Xin Zhao Yufeng Jin Haixia Zhang National Key Laboratory of Nano Micro Fabrication Technology Institute of Microelectronics Peking University Beijing China Institute of Robotics and Automatic Information System Nankai University Tianjin China

The increasing need for functionality and portability in consumer electronics is pushing the microelectronics industry to develop more effective interconnection techniques. This has resulted in the birth of 3D stacking of chips, which is achieved by the use of TSV (Through-Silicon-Via) technology. This paper puts forward a TSV simulator, FASTsv (Fast and Accurate Simulator of TSV: FASTsv). The key technologies in TSV process include DRIE (deep reactive ion etching) and PECVD (plasma-enhanced chemical vapor deposition) processes. Based on experimental results and theoretical analysis, the modeling of DRIE and PECVD processes are developed. Experimental tests are performed to verify the TSV simulator. The simulation results agree with experimental results very well.

关键词： Through-silicon vias Etching Sulfur hexafluoride Mathematical model Data models Polymers Silicon

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Experimental study of passive creeping for a snake-like robot

Experimental study of passive creeping for a snake-like robo...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Zhifeng Wang Shugen Ma Bin Li Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China

The control of a snake-like robot is a challenging problem because of unknown environments and complex dynamics. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. In the paper, we present a hypothesis that the energy state of the robot can influence the locomotor adaptation. And then we lay emphasis on experiments in order to test the hypothesis and validate the passive creeping. A locomotion experiment and a drag experiment demonstrate the adaptability of the passive creeping to variable environments and different dynamics (or payloads), respectively. In the experiments, an optical motion capture system is used to obtain the kinetic energy information of the snake-like robot in real time.

关键词： Rubber Floors Software Hardware Biology

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Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control

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Journal of Donghua University(English Edition) 2010年第4期27卷 486-490页

作者：李军强臧希喆赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was *** tremor suppression machine was designed,and the measure part and the tremor suppression part were ***,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked *** selected training data set,the off-line fuzzy neural network training was *** the tremor suppression method was simulated in *** the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.

关键词： magnetorheological damper nonrigid body fuzzy neural network tremor suppression

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Behavior-based control of an autonomous underwater vehicle for adaptive plume mapping

Behavior-based control of an autonomous underwater vehicle f...

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International Conference on Intelligent Control and Information Processing (ICICIP)

作者： Yu Tian Wei Li Aiqun Zhang Jiancheng Yu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Chinese Academy and Sciences Beijing China

This paper investigates a behavior-based control system for an autonomous underwater vehicle (AUV) to adaptively map a turbulent plume. The objective of this paper is to describe and verify the control system developed in a simulation environment, which aims to apply it for adaptively mapping deep-sea hydrothermal non-buoyant plume. The proposed behavior-based control system is implemented on an AUV to perform in-water tests. The successful field experiments demonstrate that the control system effectively navigates the AUV to map a rhodamine plume developed in near-shore ocean environment.

关键词： Adaptation models Vehicles Oceans Trajectory Time series analysis Laboratories

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Influences of visual feedback indicator scales on human upright postural control

Influences of visual feedback indicator scales on human upri...

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

作者： Pei, Lili Li, Hongyi Fu, Yunfa Yang, Yanhua State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences Beijing China College of Physics and Electronics Shanxi University Taiyuan China College of Applied Science and Technology Quanzhou Normal University Quanzhou China

ISBN: (纸本)9781612849102

Human upright postural control is highly related to visual information. In order to investigate the influence of visual feedback on static upright postural control, postural sway of eight healthy adults was investigated under visual feedback circumstances. In the investigation, postural feedback information was visualized by an indicator composed of a movable spot and a stationary circle, and postural control of subjects was inspected both in time domain and frequency domain. The experiment results indicate that reduction of the visual feedback indicator scale inspires a postural power shift to the higher frequencies, and this reduction also induces a fall-after-rise pattern of postural energy distribution in the frequency range of 0.51 Hz. © 2011 IEEE.

关键词： Frequency domain analysis

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Comparison of SUT H∞ - and UKF in Cartesian and Modified Polar Coordinates for bearings-only tracking

Comparison of SUT H∞ - and UKF in Cartesian and Modified Po...

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OCEANS

作者： J. Xu X. Feng S. Ren J. Zeng State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning China School of Graduate Chinese Academy of Sciences Beijing China

The H ∞ filtering problem is considered for a class of nonlinear discrete-time systems for which a novel solution is developed by embedding the unscented transform technique into the extended H ∞ filter structure. This article compares a Scale Unscented Transform H ∞ filter (SUT H ∞ - ) and UKF for the bearings-only tracking problem in Modified Polar Coordinates (MPC) and Cartesian coordinates (CC). Its objective is to track the kinematics (position, velocity) of a moving target using noise-corrupted bearing measurements. The SUT H ∞ - filter achieves higher accuracy and robustness against model uncertainty. Simulation results for the bearings-only tracking (BOT) are presented to illustrate that the MPC is better than CC in long distance.

关键词： Mathematical model Equations Observers Maximum likelihood detection Nonlinear filters Vectors Target tracking

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Robust control of gantry crane system with hoisting: A new solution based on wave motion

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 288-292页

作者： Yang, Tang-Wen Qin, Yong Han, Jian-Da Institute of Information Science Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang 110016 China

Large load swing of a gantry crane, due to cable flexibility and rapid movement, needs to be controlled. Herein, a wave-based approach interprets the cable motion as two superposed traveling waves. To combine position and active swing control, the trolley motion and load hoisting are carefully designed here, and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres, counteracting their reverse effects on the load swing. A robust control algorithm, based on the model of the crane system, is proposed to realize the trolley and hoisting motions, allowing for load variations and parameter uncertainties. This new solution to motion control of a gantry crane works very well, and is stable and adaptive to large load variations. As demonstrated in the simulation experiments, it lands the load rapidly and exactly at target and stops it dead, with nearly zero swing.

关键词： Robust control

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Networked Tank Gunnery Skill Training Based on Haptic Interaction

Networked Tank Gunnery Skill Training Based on Haptic Intera...

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2011 4th International Conference on Biomedical Engineering and Informatics(第四届生物医学工程与信息学国际会议 BMEI 2011)

作者： Guanyang Liu Keke Lu State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

This paper introduces networked tank gunnery skill training based on haptic interaction. "Hand in hand" training mode is implemented by constructing a networked haptic display system. A teacher and a trainee can respectively manipulate his own haptic device to realize skill transferring. In this process, the trainee can experience the teacher's motor skill and can be corrected by the teacher. A local network is built to connect two haptic devices and computers. Two modes for tank gunnery skill training are designed in this system: haptic guidance and real-time correction. A prototype system is established to testify the effectiveness of such a new type "Hand in hand" training system.

关键词： networked skill training hand in hand haptic display haptic guidance real-time correction

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Influences of visual feedback indicator scales on human upright postural control

Influences of visual feedback indicator scales on human upri...

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

作者： Lili Pei Hongyi Li Yunfa Fu Yanhua Yang Chinese Academy of Sciences Beijing Beijing CN State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

关键词： Visualization Humans Time domain analysis Frequency domain analysis Frequency control Force Power distribution

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Research on the navigation system of a class of underwater vehicle based on USBL

Research on the navigation system of a class of underwater v...

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OCEANS

作者： Kaizhou Liu Jing Li Wei Guo Puqiang Zhu Junbao Zeng Xiaohui Wang Robotics State Key Laboratory Shenyang Institute of Automation CAS Shenyang Liaoning China Graduate School of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781457714276

This paper presents a novel unscented Kalman filter (UKF) used for navigation of Human Occupied Vehicle (HOV) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL), a Doppler Velocity Log (DVL), a fiber optic gyrometer and a depth sensor. The HOV motion and the USBL observations are highly non-linear processes which contain unknown noise. A UKF is therefore chosen as a suitable data fusion technique. For the low rate positional measurements of USBL and the drift error of the DVL, the presented UKF fuses the information from these sensors to produce a more accurate estimate of three-dimensional position, orientation (heading), and velocity of the HOV. MATLAB simulations conducted with respect to the data obtained from previous sea trial illustrate the effectiveness of our proposed method.

关键词： Sea measurements Covariance matrix Vehicles Kalman filters Sonar navigation Acoustic measurements

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