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IEEE International Conference on robotics and Biomimetics

作者： Yang Hu Yang Chen Jianda Han Yuechao Wang Juntong Qi State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) State Key Laboratory of Robotics SIA CAS

ISBN: (纸本)9781457721366

A robotic helicopter is an aircraft equipped with a sensing, computing, actuation, and communication infrastructure that allows it to execute a variety of tasks with autonomous mode. In this paper, we present an adaptive actor-critic reinforcement method to obtain near optimal controller for small autonomous helicopter. A network based on Q-value performs the critic and is trained by SARSA algorithm. A BP neural network, which is the actor network, generates control signal of helicopter dynamics. First, the proposed actor-critic reinforcement controller is introduced, then the algorithm is applied to an unmanned helicopter known as a highly nonlinear and complex system and the simulation results are presented.

关键词： helicopter flight dynamics drone helicopters critic Helicopters Communications infrastructure Simulation results Complex systems tracking control Reinforcement Aircraft Self tuning Religious Missions Q-VALUE autonomous helicopters

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Motion description and control for a tele-manipulator system based on MDL

Motion description and control for a tele-manipulator system...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Jianning Hua Hongyi Li Yuechao Wang Ning Xi Department of Automation Engineering Northeastern University Qinhuangdao Hebei China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China

A novel control strategy based on motion description language (MDL) is proposed in this paper, to distribute computational and communication resources in a particular tele-robotic system. On one hand, limited bandwidth, random time delay and other transmission problems of Internet make it necessary to reduce data transferred between master and slave site. On the other hand, remote robotic system has a fairly good autonomy. As a result, it is preferable to transmit high-level discrete commands between master and slave site. In this paper, a symbolic-based control framework based on MDL is put forward and implemented on a tele-manipulator system. Especially, open-loop and closed-loop component are obtained based on the resolved motion method, termination conditions for atoms are acquired from the point of view optimization problem. The obvious characteristic of the new method is that control commands have a linguistic flavor, data transferred between operator and remote robot can be reduced accordingly. A prototype tele-robotic system based on MDL is constructed and the experiment results validate the efficiency of the proposed method.

关键词： Robot kinematics Internet Robot sensing systems Service robots Delay effects Spirals

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Experimental Investigation of the Small Intestine's Viscoelasticity for the Motion of Capsule Robot

Experimental Investigation of the Small Intestine's Viscoela...

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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： Renjia Tan Hao Liu Gang Su Cheng Zhang Hongyi Li Yuechao Wang State Key Laboratory of Robotics Shenyang Institute of Automation Graduate University of Chinese Academy of Sciences Chinese Academy of Sciences Shenyang 110016 P.R.China

Active capsule robots are studied widely all over the world, and various prototypes have been devised, e.g. the "internal force-static friction" capsule robot. During the previous research on this capsubot, we have found that the intestine's resistance characteristic is of great importance to both the design and motion control of the capsubot, however, there are very few studies on the viscoelasticity of the small intestine, and that may make the main causality of the capsubot's motion failure. In this work, experiments are performed based on two different methods: the stress relaxation on the selfmade measurement system, and the shear measurement on the dynamic mechanical analyzer (DMA). As a result, we obtain a five-element model, describing the viscoelasticity of intestines, and find that the relaxation modulus varies with the range of strain. The DMA test indicates that the storage modulus descends with the increasing shear strain, which means the hyper-elasticity of small intestine can be measured numerically. Also the strain energy density and stress-strain hysteresis loops can be obtained. This work paves the way for the modeling of intestine and the finite element analysis (FEA) in the future.

关键词： capsule robot viscoelasticity intestine, stress relaxation dynamic mechanical analysis.

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Unknown Constrained Mechanisms Operation based on Dynamic Hybrid Compliance Control

Unknown Constrained Mechanisms Operation based on Dynamic Hy...

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IEEE International Conference on robotics and Biomimetics

作者： Dedi Ma Hesheng Wang Weidong Chen Department of Automation Shanghai JiaoTong University State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781457721366

In order to operate unknown constrained mechanisms with assistive robot manipulators, a dynamic hybrid compliance control algorithm was proposed in the paper. The controller using the proposed algorithm was designed to estimate constrained frame, determine driving-axis and obtain control velocity. Firstly, the constrained frame was estimated online according to the previous motion direction, and a suitable direction was selected as driving-axis by selection matrix;then hybrid position/force control was adopted to decouple the driving-axis and non-driving-axis;finally, velocity control was used at the driving-axis and impedance control was used at the non-driving-axis. The proposed dynamic hybrid compliance control algorithm made manipulators find a suitable direction as the driving-axis to operate the constrained mechanisms. And the dynamic characteristics of operation were improved. The validity of the proposed method was verified by the experiments of autonomous door opening utilizing a 6-DoF manipulator.

关键词： compliance control doorways Velocity control HYBRID Hybrid electric vehicles Surgery Robot Manipulator dynamic characteristics

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Study on the linear dynamic model of shield TBM cutterhead driving system

Study on the linear dynamic model of shield TBM cutterhead d...

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Annual Conference of Industrial Electronics Society

作者： Xian Hong Li Hai Bin Yu Ming Zhe Yuan Yuan Yin Hao Pan Graduate school of Chinese Academy of Sciences Beijing China Key Laboratory of Industrial Informatics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

This paper establishes a generalized linear time-varying (G-LTV) dynamic model of the shield tunnel boring machine (TBM) cutterhead driving system, and the corresponding linear time-varying multiple-input and multiple-output (MIMO) state-space model is also presented. The dynamic model reveals that the number of the driving motor can affect the performances of the shield TBM driving system. The dynamic model is a basis of the multiple motors synchronous control, and it is also a basis of faults diagnosis of shield TBM cutterhead driving system. Through maximizing the shield TBM cutterhead's speed-torque gain of the single induction motor or shield TBM cutterhead's speed-total-torque gain of all induction motors, we obtain the optimum transmission ratio (OTR) and the optimum reduction ratio (ORR) of the shield TBM cutterhead driving system. The OTR and ORR reveal that: in the conditions of the quantitative motor output torque, the shield TBM cutterhead can acquire higher rotation speed, thus selecting the suitable TR or RR makes the driving system improve performances. Analyzing the G-LTV model of the driving system, it finds that the load torque and the number of active pinions or driving motors have an impact on the dynamic performances of cutterhead driving system. The mechanical transmission structure with multiple active pinions is simulated by automatic dynamic analysis of mechanical systems (ADAMS) software that confirms the driving system's performances of shield TBM cutterhead are also affected by the load torque, active pinions' speed inconsistency, and the number of active pinion or the number of driving motor.

关键词： Torque Induction motors Gears Mathematical model Equations Time varying systems Rocks

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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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International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE)

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

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.

关键词： Wheels Wheelchairs Tracking Vehicles Vehicle dynamics Estimation Equations

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Wheel slip-sinkage and its prediction model of lunar rover

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Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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Phase-Locked and Non-Phase-Locked Event-Related Oscillations and Channel Power Spectra Analysis during Motor Imagery with Speed Parameters for BCRI

Phase-Locked and Non-Phase-Locked Event-Related Oscillations...

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International Conference on Bioinformatics and Biomedical Engineering (ICBBE)

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

Phase-locked and non-phase-locked event-related oscillations and channel spectra during motor imagery with speed parameters (fast 4Hz and slow 1Hz) were investigated in the paper. EEG signals related to imagination of six tasks that involved three limbs (left and right index fingers and right toes) and two speeds were first separated from original EEG signals mixed with noises by ICA. Then, event-related EEG trials were superposed and averaged to get time domain average EEG that was decomposed by wavelet transform to investigate phase locked event-related oscillations. Event-related EEG trials were also decomposed by wavelet transform respectively and then superposed and averaged to investigate non-phase-locked event related oscillations. In addition, power spectra for selected channel were calculated by FFT. By these methods, the latency of 50~536ms and the low frequency band of 2.7~8Hz for an increase in power early after the event, latencies and frequency bands for significant different changes and a different degree decrease in power at high frequency band between fast and slow motor imagery, and ERD / ERS in a broad frequency band for selected channels were found. Simultaneously extracting phase-locked and non-phase-locked event-related oscillations in broadband range may be very important for acquiring complete information about event-related EEG during motor imagery with speed parameters. The research results may be used in feature extraction for brain-controlled robots interface (BCRI). In the based on brain cognitive robots control, this study is also expected to provide some degree continuous and fine control strategies for BCR.

关键词： Oscillators Electroencephalography Time frequency analysis Robots Muscles Electrodes Brain

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Ray Theory Application in Long Baseline system

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China Ocean Engineering 2010年第1期24卷 199-206页

作者：冀大雄刘健 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

The long baseline （LBL） system is widely used to locate and track autonomous underwater vehicles （AUV） through acoustic communication. Three important issues are presented here in LBL system application with AUV. Those issues which regard the normal acoustic communication between LBL system and AUV are the depth of towed army, the length of beacon cable, and the effective area of the AUV. The first issue is the key of the LBL system, which ensures the normal communication between towed array and beacons. The second issue which impacts the normal communication from the AUV to beacons in available range should be considered after the first one has been settled. Then the last issue determines the safe work area of the AUV. The ordinary differential equations （ODE） algorithm of ray is deduced from Snell＇s law. The ODE algorithm is applied to obtain sound rays from sound source to receiver. These problems are solved by the judgment that whether rays pinging from a sound source arrives at a receiver. The sea trial shows that these methods have much validity and practicality.

关键词： effective area long basdine beacon cable sound track AUV

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An equivalent electrical model for numerical analyses of ODEP manipulation

An equivalent electrical model for numerical analyses of ODE...

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

作者： Liang, Wenfeng Wang, Shue Qu, Yanli Dong, Zaili Lee, Gwo-Bin Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate University Chinese Academy of Sciences 100049 China Center for Micro/Nano Technology Research National Cheng Kung University Taiwan Dept. of Mechanical and Automation Engineering Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781612847757

Opticaldielectrophoresis(ODEP)has been explored experimentally with success in manipulating microscale objects in the last 5 years. However, not much theoretical analyses have been performed to understand its operating principles in depth and also determine its limitations as a tool to manipulate micro- and nano-scale objects. In this paper, we present our work on establishing an equivalent electrical model to analyze the important physical interactions when optically induced dielectrophoretic force is used to manipulate micron-sized polystyrene beads. Simulation results show that the ODEP manipulation of microbeads is frequency-dependent and that the electrothermal effect is negligible. Furthermore, the relationship between the frequency of the applied voltage and the maximum manipulation velocity of the microbeads obtained from simulation is consistent with our experimental measurements. In addition, simulation results also show that the minimum radius of a bead that can be manipulated exponentially decreases with respect to the size of the illuminated spot. For instance, when the illuminated spot size is 1m, ODEP can theoretically manipulate 100nm beads - indicating that ODEP can be extended to manipulate nano-scale objects if the illuminated spot size can be significantly reduced. © 2011 IEEE.

关键词： Electrophoresis

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