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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： Hao Li Yuru Zhang Jian S. Dai State Key Laboratory of Virtual Reality Technology and System Beihang University Beijing 100191 C Robotics Research Center Department of Mechanical Engineering Kings College London University of

Performance of a parallel manipulator heavily relies on its position/orientation resolution. Without a good resolution the manipulator is difficult to achieve a high stiffness. Therefore how to obtain the required resolution is a basic issue to design a parallel manipulator. This paper presents a method to solve the problem. Firstly, the mathematical definition of the position/orientation resolution is given. Then we discuss how to calculate them using Rayleigh quotient. And the design optimization problem is formulated. Fundamental concepts of the method are illustrated through a 3-RRR planar parallel manipulator. The design process to achieve an optimized task space of the required pose resolution is also demonstrated in the example.

关键词： Manipulators Haptic interfaces Joints Optimization Kinematics Jacobian matrices Conferences

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Activation of human ether-a-go-go related gene (hERG) potassium channels by small molecules

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中国药理学报（英文版） 2011年第6期32卷 781-788页

作者： Ping-zheng ZHOU Joseph BABCOCK Lian-qing LIU Min LI Zhao-bing GAO State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai 201203China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Neuroscience High Throughput Biology Center and Johns Hopkins Ion Channel Center School of Medicine Johns Hopkins University Baltimore Maryland 21205 USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai 201203China Department of Neuroscience High Throughput Biology Center and Johns Hopkins Ion Channel Center School of Medicine Johns Hopk State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai 201203China

Human ether-a-go-go related gene (hERG) potassium (K+) channels play a critical role in cardiac action potential repolarization. Mutations that reduce hERG conductance or surface expression may cause congenital long Q... 详细信息

Human ether-a-go-go related gene (hERG) potassium (K⁺) channels play a critical role in cardiac action potential repolarization. Mutations that reduce hERG conductance or surface expression may cause congenital long QT syndrome (LQTS). However, the channels can be inhibited by structurally diverse small molecules, resulting in an acquired form of LQTS. Consequently, small molecules that increase the hERG current may be of value for treatment for LQTS. So far, nine hERG activators have been reported. The aim of this review is to discuss recent advances concerning the identification and action mechanism of hERG activators.

关键词： Human ether-a-go-go related gene (hERG) ion channel long QT syndrome (LQTS) activator

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Self-configuring quick bp neural network and its application to parallel robot's forward kinematics solution

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ICIC Express Letters, Part B: Applications 2011年第4期2卷 959-966页

作者： Zhang, Shihui Kong, Lingfu State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China College of Information Science and Engineering Yanshan University No. 438 West Hebei Street Qinhuangdao 066004 China

The learning algorithm for self-configuring quick BP neural network is proposed in this paper. It makes the number of hidden nodes more reasonable by merging or deleting hidden nodes in the same layer of the initial quick BP network model, and consequently overcomes the limitation in determining the number of hidden nodes only depending on experiments in the past. In addition, it also attains the goal to optimize network structure and improve network performance. As examples, the self-configuring quick BP neural network is applied to forward kinematics solution of parallel robot. The experimental results show the proposed method not only can guarantee calculation precision but also has advantages of less calculation amount and quick speed, which benefits to the real time control for parallel robot. © 2011 ISSN 2185-2766.

关键词： Real time control

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Wireless Power Transfer system for Capsule Endoscopy Based on Strongly Coupled Magnetic Resonance Theory

Wireless Power Transfer System for Capsule Endoscopy Based o...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Xuelin Fang Hao Liu Guiyang Li Qi Shao Hongyi Li State Key Laboratory of Robotics Graduate School of the Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province China

Capsule endoscopy is a new technique that allows complete exploration of the small intestine, and widely used all over the world, for its convenience and less pains compared with traditional endoscopy. However, the limited power supplies of batteries handicap the development of capsule endoscopy. This paper presents a novel wireless power transfer system for the capsule endoscopy utilizing the strongly coupled magnetic resonances theory. The wireless power transfer system consists of four coils, an excitation source and a load. In order to evaluate the system performance, experiments were carried out in which the working frequency is determined at 8.2MHz. The results demonstrate that the distance between two sets of transmission coils have great effect on the system efficiency and the maximal system efficiency can reach 26.14％. Therefore, this power supply system has a promising prospect on wireless power transfer for capsule endoscopy. Improving the quality factor of coils can effectively increase the efficiency of the system, which is the key to the future work.

关键词： capsule endoscopy magnetic coupling wireless power transfer efficiency.

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A Flexible Hingeless Control Surface Inspired by Aquatic Animals

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Journal of Bionic Engineering 2010年第4期7卷 364-374页

作者： Zhenlong Wang,Jian Li,Guanrong Hang,Yangwei Wang state key laboratory of robotics and system,Harbin institute of Technology,Harbin 150001,P.R.China [a] State Key Laboratory of Robotics System Harbin Institute of Technology Harbin 150001 P. R. China

A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and *** Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the *** elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the *** analysisof SMA wires was performed to find proper actuating ***-loop bending experiments were carried *** resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.

关键词： bio-inspired flexible hingeless control surface CFD shape memory alloy wire underwater vehicle

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Gain-Scheduling Control of a 6-DOF Single-wheeled Pendulum Robot Based on DIT Parameterization

Gain-Scheduling Control of a 6-DOF Single-wheeled Pendulum R...

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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： Jizhuang Fan HongZhe Jin Jie Zhao JangMyung Lee State Key Laboratory of Robotics and System Science Garden of HITNO.2Street YiKuangDistrict NanGa School of Electrical Engineering Pusan National Univercity BusanKorea 609735

ISBN: (纸本)9781612843865

This article presents the nonlinear dynamics and the posture stabilization control scheme for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization control design is based on the parameterization of the dynamic interactions (DIT) between the lateral dynamics, the longitudinal dynamics, and the rotational dynamics. Simulation results showed the feasibility of the SWPR model and the control algorithm.

关键词： Single-wheeled pendulum robot Model reduction Parameterization Posture stabilization Gain scheduling

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

Robust control of gantry crane system with hoisting:A new so...

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2011年中国智能自动化会议

作者： YANG Tang-wen QIN Yong HAN Jian-da Institute of Information Science Beijing Jiaotong University Beijing 100044 China State Key Labor State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 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： gantry crane systems robust control hoisting mechanical wave concepts

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Adaptive Reliable H∞ Controller Design for Linear systems with Quantized state Feedback

Adaptive Reliable H∞ Controller Design for Linear Systems w...

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

作者： Xingang. Zhao Dan. Ye State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences She College of Information Science and Engineering Northeastern University Shengyang 110004 China

This paper addresses the design problem of reliable H∞ controller for linear systems with state quantization. By combining linear matrix inequality technique and indirect adaptive method, a new method is proposed to design a reliable controller against actuator faults via quantized state feedback. The controller gains are updating according to the on-line estimation of eventual faults, which are dependent on the quantized state signals. Meanwhile, the proposed designs conditions with variable gains can be proved to be less conservative than those of the traditional controller with xed gains. A numerical example is presented to illustrate the effectiveness of the proposed method.

关键词： Reliable control adaptive control quantized state feedback linear matrix inequalities (LMIs) H∞ control.

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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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IEEE International Conference on robotics and Biomimetics

作者： Zhiyu Wang Lianqing Liu Jing Hou Zhidong Wang Shuai Yuan Zaili Dong State Key Laboratory of Robotics Shenyang Institute of Automation

ISBN: (纸本)9781457721366

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.

关键词： Nanomanipulation AFM Stable Pushing

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Dynamic Analysis of 5-DOF Parallel Machine Tool with Redundant Actuation

Dynamic Analysis of 5-DOF Parallel Machine Tool with Redunda...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Hongguang Wang Li Cheng Yongsheng Zhao State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang Liaoning Province School of Mechanical Engineering Yanshan University Qinhuangdao Hebei Province China

A 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation is introduced. The characteristic of the PMT is described. Based on the conventional Lagrange Equation, the dynamic formulation of this PMT with redundant actuation is derived. A novel force distribution method is proposed for redundant actuation. The constraint couple of the PRPU limb to the moving platform is deduced with the D' Alembert's principle. Then, the dynamic calculation of the redundant actuation limb is performed. Thus, the inverse dynamic solution can be derived. With ADAMS software, the three-dimensional entity model of the PMT is built and the dynamic simulations are carried out through some typical motion. The simulation results are consistent with the theoretical calculation, which proves the correctness of the theoretical deduction and the feasibility of the simulation analysis.

关键词： parallel machine tool redundant actuation force optimization dynamics simulation

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