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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinqing Wang Yiwei Liu Dapeng Yang Nan Li Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage mechanism, each finger with three phalanges could fulfill flexion-extension movement independently. Besides, each finger is equipped with torque and position sensors. Thus, the cosmetics and dexterity are improved remarkably compared to conventional prosthesis. The hardware architecture is divided into control system and EMG signal processing system. Moreover, a novel two-stage decision strategy combing the position-based impedance control scheme is implemented to realize the real-time sEMG control of the hand. According to the grasp experiment results, the hand can accomplish several grasp modes stably; the success rate of 10 modes is up to 90%.

关键词： Fingers Thumb Electromyography Humans Joints Prosthetic hand Sensors

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The architecture and key technologies of a BMI based telerobot system over internet

The architecture and key technologies of a BMI based telerob...

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2010 3rd International Congress on Image and Signal Processing, CISP 2010

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

ISBN: (纸本)9781424465149

In the study of Internet-based telerobot system, the aim is at human-machine integration and a BMI-based telerobot system over Internet is proposed using a new method of direct human-machine integration interface: brain-machine interface (BMI). The difference between this system and the traditional Internet-based telerobot system lies in that operators can directly control remote robots just by their thoughts. In traditional Internet-based telerobot system, operators control robots by joysticks which cannot directly integrate their intelligent system into robot system and also cannot meet the special application requirements of hand unfit teleoperation. To realize such a system, the key problems such as the optimal design of cognitive tasks fitting both operators and operating robots, the adaptive real-time online parameters optimization algorithm for feature extraction and classification, as well as the methods for overcoming the adverse impacts brought by network time-delay on the stability, telepresence, and transparency of the system are discussed in the study, which provides both methods and algorithms for further study. ©2010 IEEE.

关键词： Machine design

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Virtual force guided control method for teleoperated manipulator system over internet

Virtual force guided control method for teleoperated manipul...

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2010 8th IEEE International Conference on Control and Automation, ICCA 2010

作者： Shi, Pu Zhao, Yiwen Hua, Jianning Cui, Yujie Northeastern University at Qinhuangdao Qinhuangdao 066004 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9781424451951

Telepresence is a critical problem in robotic teleoperation systems. For the sake of collision avoidance between the end-effecter and the object, the human operator has to make close observations on the visual information. This overloads the visual sense of the human operator. On the other hand, there are some potential obstacles in gathering vision information. As a result, the advance notice of collision might be missed or neglected. In order to settle this issue, a virtual force guided control method for robotic teleoperation system is proposed in this paper. This approach combines position-force command strategy and virtual force feedback to perform proper operations, where the virtual force is generated by transforming visual information into reflective force. This control approach improves the operability of teleoperation system and enhances the effectiveness. Experiments are conducted and demonstrate the effectiveness of the virtual force guided control method. © 2010 IEEE.

关键词： Visual communication

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Vibration suppression for wafer transfer robot during trajectory tracking

Vibration suppression for wafer transfer robot during trajec...

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IEEE International Conference on Mechatronics and Automation

作者： Yanjie Liu Yumei Cao Lining Sun Xiaofei Zheng State Key Laboratory Of Robotics and Systems Robotics Institute Harbin Institute of Technology Harbin China

In order to solve the vibration during the process of transferring wafers and achieve the purpose of transferring wafers accurately and stably, the wafer transfer robot dynamic model was modelled and the strategy of vibration suppression based on input shaping was proposed. Based on the characteristics of wafer transfer robot, ZV input shaper and skewed shaper was designed to solve the single axis's vibration caused by timing belt and harmonic reducer, and most importantly, the vibration of end effector during trajectory tracking was suppressed with input shapers using multi-modal system cascade method in the Cartesian space. Through comparison of different effects during the straight-line trajectory tracking in different spaces, the experiments demonstrated that the input shaping in Cartesian space suppressed vibration of end effector and improved the accuracy of trajectory tracking.

关键词： Vibrations Joints Trajectory Acceleration End effectors Semiconductor device modeling

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A novel color based object detection and localization algorithm

A novel color based object detection and localization algori...

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2010 3rd International Congress on Image and Signal Processing, CISP 2010

作者： Fan, Baojie Zhu, Linlin Du, Yingkui Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School of the Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781424465149

We propose a novel and robust color object detection and localization algorithm. Without a priori information about the number of objects, our method can detect all the objects with similar color feature in template. An improved histogram backprojection algorithm is used to find the object candidate regions. The weighted histogram intersection is used to verify the presence of objects. With the color feature in template, our method can detect and locate the objects accurately, get the number of objects, estimate their scales and orientations. Our experimental results on outdoor images obtained under different environments verify the effectiveness of our algorithm. ©2010 IEEE.

关键词： Object detection

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Motion model and control strategies for an underwater glider

Motion model and control strategies for an underwater glider

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20th International Offshore and Polar Engineering Conference, ISOPE-2010

作者： Yu, Jiancheng Hu, Zhiqiang Gu, Haitao Zhang, Fumin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Electrical and Computer Engineering Georgia Institute of Technology Savannah United States

ISBN: (纸本)9781880653777

Underwater gliders are novel underwater sensing platforms with mobility, controllability and long endurance that are essential for data collection for oceanographic research. In this paper, the basic gliding model of an underwater glider developed by the Shenyang institute of Automation (SIA), Chinese Academy of Sciences (CAS) is established, and a class of control strategies are investigated. We first establish a motion model by studying the steady state gliding motion in the vertical motion plane based on Graver, 2005. We then compute the minimum gliding path angle and the maximum horizontal speed. To identify the fundamental motion parameters of the underwater glider such as the drag coefficients, we compute the hydrodynamic drag force, lift force and toque as functions of attacking angles using the CFX hydrodynamic computing software. Furthermore, we compute the optimal gliding path angle to achieve the maximum gliding range given battery capacity. We then propose a scheduling strategy to reduce energy consumption in sensors. This scheduling strategy automatically adjusts sampling frequency based on the profile data collected. We also propose two practical strategies that help the glider to cross strong steady flow. The first strategy aims for minimum time and the second aims for the shortest distance reaching the next waypoint, and real-time estimated current are used in both strategies. Copyright © 2010 by The International Society of Offshore and Polar Engineers (ISOPE).

关键词： Energy utilization

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Research on the atomic force microscopy-based fabrication of nanochannels on silicon oxide surfaces

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Chinese Science Bulletin 2010年第30期55卷 3466-3471页

作者： WANG ZhiQian JIAO NianDong TUNG Steve DONG ZaiLi 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 100049 China Mechanical Engineering University of Arkansas Fayetteville Arkansas 72701 USA

The atomic force microscopy (AFM)-based nanomachining of nanochannels on silicon oxide surfaces is investigated both theoretically and experimentally. The relationships of nanochannel depth versus cutting velocity,nanochannel depth versus normal force,friction force versus cutting velocity,and friction force versus normal force are systematically studied. Using the derived theory and fabrication method,a nanochannel with an expected depth can be machined simply by controlling the vertical deflection signal on the position sensitive detector of AFM. The theoretical analysis and fabrication method can be effectively used for AFM-based fabrication of nanochannels.

关键词：原子力显微镜表面氧化硅氧化物基础位置敏感探测器制造纳米通道切割速度

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Near-optimal collecting data strategy based on ordinary kiriging variance

Near-optimal collecting data strategy based on ordinary kiri...

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OCEANS'10 IEEE Sydney, OCEANSSYD 2010

作者： Zhu, Xinke Yu, Jiancheng Ren, Shenzhen Wang, Xiaohui Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Graduate School Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781424452217

When monitoring spatial phenomena, we are not just interested in measurements at sensed locations but also at locations where no sensors were placed. To estimate the scalar field where no sensors are deployed, we need to interpolate the data. We are interested in how the best sampling design is to be found and best used to draw conclusions about the field as whole. First of all, a performance metric is defined to quantify how well the sampling network collecting data in a given region. Secondly, near-optimal collecting data strategy proposed minimizes the integral of the Kriging variance over the area of interest. Thirdly, several approaches proposed make the optimization more computationally efficient. Finally, the proposed methods are verified respectively by simulation. © 2010 IEEE.

关键词： Kriging

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Experimental study on impedance control for the five-finger dexterous robot hand DLR-HIT II

Experimental study on impedance control for the five-finger ...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zhaopeng Chen Neal Y. Lii Thomas Wimboeck Shaowei Fan Minghe Jin Christoph H. Borst Hong Liu Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Faculty of State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents experimental results on the five-finger dexterous robot hand DLR-HIT II, with Cartesian impedance control based on joint torque and nonlinearity compensation for elastic dexterous robot joints. To improve the performance of the impedance controller, system parameter estimations with extended kalman filter and gravity compensation have been investigated on the robot hand. Experimental results show that, for the harmonic drive robot hand with joint toruqe feedback, accurate position tracking and stable torque/force response can be achieved with cartesian and joint impedance controller. In addition, a FPGA-based control architecture with flexible communication is proposed to perform the designed impedance controller.

关键词： Joints Impedance Torque Robot sensing systems Gravity Hardware

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Cooperative reconfiguration between two specific configurations for a shape-shifting robot

Cooperative reconfiguration between two specific configurati...

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8th IEEE International Workshop on Safety, Security, and Rescue robotics, SSRR-2010

作者： Li, Bin Ma, Shugen Liu, Tonglin Wang, Minghui State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences No.114 Nanta Street Shenyang Liaoning China Department of Robotics Ritsumeikan University 1-1-1 Nojihigashi Kusatsu-Shi Shiga-ken Japan

ISBN: (纸本)9781424488995

A shape-shifting mobile robot named AMOEBA-I has diverse configurations. Cooperative reconfiguration is presented to improve the robot's reconfigurable ability and adaptability in unstructured environments. Cooperative reconfiguration method is analyzed theoretically. A mathematical model is established correspondingly and the kinematical relations among the three modules during the cooperative reconfiguration are determined. The transformation is implemented between two specific configurations. Then, an evaluation is proposed for AMOEBA-I's cooperative reconfiguration performance. The feature of cooperative reconfiguration methods is compared through the theoretical analysis and experiments. Experimental results prove the validity of the cooperative reconfiguration methods on various grounds. © 2010 IEEE.

关键词： Robots

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