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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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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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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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Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

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Journal of Central South University 2010年第6期17卷 1264-1270页

作者：杨炽夫郑淑涛靳军朱思斌韩俊伟 State Key Laboratory of Robotics and System Har bin Institute of Technology

In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel *** on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical *** MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson *** procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual *** for *** performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and *** the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of *** theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.

关键词： parallel manipulator forward kinematics global Newton-Raphson real-time system

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An asymmetric PI hysteresis model for piezoceramics in nanoscale AFM imaging

An asymmetric PI hysteresis model for piezoceramics in nanos...

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

作者： Wang, Dong Dong, Zaili Jiao, Niandong Yuan, Shuai Zhou, Lei Li, Wen J. State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate University Chinese Academy of Sciences Beijing China Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781612847757

A modified Prandtl-Ishlinskii (PI) model, referred to as an asymmetric PI model, is implemented to reduce the displacement error between the model and the actual trajectory of a piezoceramic actuator used for AFM-based nanoscale imaging. The fact that the standard PI model is symmetric, while the actual hysteresis loop of a piezoceramic actuator is asymmetric, assures scanning errors if the standard PI operator is used. In order to improve the accuracy of the model, instead of using the same slope values in the entire PI model, different slope values to describe the forward loop (voltage increase) and the backward loop (voltage decrease) is proposed. The accuracy of the asymmetric PI model is validated on a custom-built AFM by comparing the experimental results derived from it with the results for the standard PI model. © 2011 IEEE.

关键词： Hysteresis

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Target object identification and localization in mobile manipulations

Target object identification and localization in mobile mani...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Jiang, Yong Xi, Ning Zhang, Qin Jia, Yunyi Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Mechatronic Engineering Beijing University of Posts and Telecommunications Beijing 100876 China

ISBN: (纸本)9781457721373

How to make mobile manipulator autonomously identify and locate target object in unknown environment, this is a very challenging question. In this paper, a multi-sensor fusion method based on camera and laser range finder (LRF) for mobile manipulations is proposed. Although the camera can acquire rich perceptual information, the image processing is very complex and easily influenced from the change in ambient light. Moreover, it can not directly provide the depth information of the environment. Since the LRF has the ability to directly measure 3D coordinates and the stability against the ambient light influence, meanwhile, the camera has the ability to acquire color information, the combination of the two sensors by making use of their advantages is utilized to obtain more accurate measurements as well as to simplify information processing. To overlay the camera image with the measurement points of the LRF pitching scan and to reconstruct the 3D image which includes the depth-of-field information, the model and the calibration of the system are built. Based on the combination of the color features extracted from the color image and the shape, size features extracted from the 3D depth-of-field image, the target object identification and localization are implemented autonomously. In order to extract the shape and size features, a triangular facet normal vector clustering (TFNVC) algorithm is introduced. The effectiveness of the proposed method and algorithm are validated by some experimental testing and analysis carried out on the mobile manipulator platform. © 2011 IEEE.

关键词： Cameras

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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年中国智能自动化学术会议

作者：杨唐文秦勇韩建达 Institute of Information Science Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University State Key Laboratory of Robotics Shenyang Institute of Automation

Large load swing of a gantry crane,due to cable flexibility and rapid movement,needs to be ***,a wave-based approach interprets the cable motion as two superposed traveling *** 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 *** new solution to motion control of a gantry crane works very well,and is stable and adaptive to large load *** 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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