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检索条件"机构=State Key Laboratory of Robotics and System Robotics Institute"

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Research and development of multiple heterogeneous UUVS simulation system

Research and development of multiple heterogeneous UUVS simu...

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

作者： Li, Yiping Xu, Zhenzhen Kang, Xiaodong Hou, Ruili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province China Graduate School of the Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781880653777

From 2006, some key technologies related to multiple Unmanned Underwater Vehicles (UUVs) system have been researched in Shenyang institute of Automation (SIA). In this paper, a smart multiple UUVs simulation system is introduced. The multiple UUVs simulation system which is composed of three kinds of nodes, we discussed the structure of multiple UUVs system and software architecture of Multiple UUVs simulation system. Copyright © 2010 by The International Society of Offshore and Polar Engineers (ISOPE).

关键词： Computer software

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Design and analysis of a new cable-driven hyper redundant manipulator

Design and analysis of a new cable-driven hyper redundant ma...

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2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Qiang, Zhao Fang, Gao State Key Laboratory of Robotics and System Computer School Harbin Institute of Technology Harbin Heilongjiang 150001 China Raffic College Northeast Forestry University Harbin Heilongjiang 150040 China Harbin Institute of Technology Mechtronical Engineering School Harbin Heilongjiang China

ISBN: (纸本)9780769540771

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective. © 2010 IEEE.

关键词： Cables

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Flame front detection by Line Enhance Active Contour from OH-PLIF images

Flame front detection by Line Enhance Active Contour from OH...

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International Conference on Intelligent Network and Intelligent systems

作者： Fan, Huijie Dong, Wei Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Graduate University of the Chinese Academy of Science Beijing 100049 China

ISBN: (纸本)9780769542492

This paper presents a new Line Enhance Active Contour model (LEAC model) to detect the flame front boundaries from high speed Planar Laser Induced Fluorescence (PLIF) images. The model first enhances the crack region and the gradient of flame front by the Line Enhance Filtering algorithm, and then extracts flame front boundaries and crake edges from the enhanced PLIF images using the CV model. We compared the LEAC model with the classical CV model on different PLIF images. Experimental results show that our model can detect the flame front accurately, and it has good performance on detecting the exact edges of long and narrow crack regions, where the classical CV model can not detect completely. Moreover, it is insensitive to image noise and curve initialization. © 2010 IEEE.

关键词： Edge detection

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A Probabilistic Approach for On-line Positioning in Nano Manipulations

A Probabilistic Approach for On-line Positioning in Nano Man...

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The 8th World Congress on Intelligent Control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Zhiyu Wang Shuai Yuan Lianqing Liu Zaili Dong Yuechao Wang Zhidong Wang Ning Xi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences She State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences She State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences She State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences She

Nanomanipulation and nanoassembly using atom force microscopy (AFM) is a potential and promising technology for nanomanufacturing. Precise position of the tip of AFM is important to increase the accuracy and efficiency on fabricate complex nanostructures. However at the nanoscale, it is difficult to acquire the tip position expressed by the coordinate in real time due to PZT nonlinearity and thermal drift through the general measure. In this paper, a probabilistic approach incorporating a Kalman filter based localization algorithm is introduced into the on-line estimation of the tip position expressed by probability distribution known as probability density function. A probabilistic motion model of AFM tip is introduced that consists of a PZT dynamic model based on the Prandtl-Ishlinskii (PI) model, and motion error distribution obtained from calibration experiments. An observation model by using a local scanning algorithm is proposed and the change of uncertainty distribution on scanning landmarks, e.g. nano-particles, near the target position is analyzed. Some experiment results are included for showing the motion error distribution and a simulation result is presented to illustrate the validity of the proposed method.

关键词： Kalman filters Probabilistic logic Mathematical model Accuracy Uncertainty Equations Position measurement

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A cubic CPG model for snake-like robot to adapt to environment

A cubic CPG model for snake-like robot to adapt to environme...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Tang, Chaoquan Ma, Shugen Li, Bin Wang, Yuechao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Robotics Faculty of Science and Engineering Ritsumeikan University Shiga-ken 525-8577 Japan Graduate School of the Chinese Academy of Sciences Beijing 100039 China

ISBN: (纸本)9781424457021

In this paper, we propose a new CPG model for the snake-like robot being able to adapt to different environments. This model can produce typical serpentine, sidewinding and traveling wave locomotion gaits and switch between them automatically based on a simple input signal. The stability of this model is verified and the parameter restrictions are determined. Then, we investigate the relationship between the properties of CPG output and the parameters. Finally, the adaptive characters of this model is discussed. We found that there is an amazing similarity between the locomotion patterns produced by the CPG model and those of the real snake. The contribution of this work makes the snake-like robot be more adaptive to complex environments. ©2010 IEEE.

关键词： Sensory feedback

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Improvement on obstacle avoiding ability based on laser range finder

Improvement on obstacle avoiding ability based on laser rang...

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International Conference on Mechatronics and Automation

作者： He, Fujun Liu, Xiaolei Du, Zhijiang Ta, Yueyue Daqing Petroleum Institute Daqing Heilongjiang 163318 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China Department of Mechanical Science and Technology Electrical Engineering Department Daqing Petroleum Institute Daqing Heilongjiang 163318 China

ISBN: (纸本)9781424451418

Mobile robot works in complicated environment have to deal with all kinds of obstacles, some obstacles may leave only a narrow way, and some obstacles moves quickly or arbitrarily, such as a child. The robot must improve its ability to quickly sensing the obstacles and tracking their state, and then avoid these obstacle and move to the original goal at the same time by motion planning. To improve the obstacle avoiding ability, a three layers obstacle avoiding policy is adopted to deal with the obstacle in different range. The dangerous obstacles are determined and the sub-goal based avoiding policy is presented. To improve the responding ability to moving object, a tracking model is set up, which takes into account the influence of moving platform. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented according to the collision estimation. The experiment shows good moving object avoiding result. © 2010 IEEE.

关键词： Motion planning

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An in vitro investigation of image-guided steerable catheter navigation

An in vitro investigation of image-guided steerable catheter...

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作者： Liu, H. Fu, Y.-L. Zhou, Y.-Y. Li, H.-X. Liang, Z.-G. Wang, S.-G. State Key Laboratory of Robotics and System Harbin Institute of Technology Bio-X Centre Science Park 2 Yikuang Street Nangang District Harbin Heilongjiang 150080 China First Clinical College Harbin Medical University Harbin China

The objective of this study is to provide catheterization with a three-dimensional (3D) guiding image and reduce the collision probability between the catheter tip and vascular wall. A bidirectional steerable catheter was integrated with two magnetic position-tracking sensors on both sides of its bending segment. The tracking information was displayed on the guiding image, which helped the surgeons to determine the relative position between the catheter tip and surrounding vessels. The navigation path was generated on the basis of the vascular skeleton. Moreover, along the path, a series of guiding circular planes were set as the guidance for the catheter. Three operations (bending, advancing, and twisting) were jointly conducted to get the catheter through these guiding planes in turn and eventually into the target vessel. The effectiveness of the proposed navigation method was verified by experiments implemented in an aorta vascular phantom. The navigation system has a mean error of 0.19mm, a root mean square of 0.49?mm, and a standard deviation of 0.46?mm.

关键词： Catheters

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A Novel Ant-based Clustering Algorithm with an Attractive Force Field

A Novel Ant-based Clustering Algorithm with an Attractive Fo...

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International Conference on Artificial Intelligence and Computational Intelligence (AICI)

作者： Lei Zhang Qixin Cao State Key Laboratory of Mechanical System and Vibration Research Institute of Robotics Shanghai Jiaotong University Shanghai China

This paper presents a novel ant-based clustering algorithm. Different from conventional ant-based clustering algorithms in which the objects are picked up or dropped down by virtual ants, our propose algorithm looks each object as an ant. The objects are first projected to a plane randomly. Then an attractive force field is created. The object (ant) is attracted by the similar ones in its local surrounding and moves to a certain place. The moving direction and moving range are determined by the composite of all attractive forces. The clusters are created by this attractiveness after many iterative cycles. The paper gives the detailed process of the algorithm. The performance of the algorithm is compared with other classic algorithms on several simulated and real datasets. The results are very encouraging in terms of the computation efficiency and clustering quality.

关键词： Clustering algorithms Algorithm design and analysis Silicon carbide Force Robots Partitioning algorithms Planning

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Slip-ratio-coordinated control of planetary exploration robots traversing over deformable rough terrain

Slip-ratio-coordinated control of planetary exploration robo...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liang Ding Haibo Gao Zongquan Deng Zhen Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang China

Wheeled exploration robots are prone to slip during locomotion on deformable rough planetary terrain, which leads to loss of velocity and extra consumption of energy. Experimental results show that the power required for driving a wheel is an increasing function of its slip ratio; further, the tractive efficiency decreases rapidly after it reaches a peak value when the slip ratio is between 0.05 and 0.2. In this study, wheel-soil interaction terramechanics, which considers the slip ratio as an important state variable, is applied to analyze the quasi-static equations of a planar robot system. The slip ratios of wheels are controllable, but the degree of freedom is the number of wheels minus 1. A generalized algorithm for distributing the slip ratios of all the wheels of a robot to optimize the energy consumption is presented. Experimental and simulation results show that the “equal slip ratio” is at least a sub-optimal solution for optimizing energy consumption. Further, a more robust control method has been developed; this methods aims to equalize the slip ratios of all the wheels while maintaining a constant body velocity on rough terrains, without solving the values of the slip ratios. This method is verified by controlling a virtual four-wheeled robot using dynamics simulations.

关键词： Wheels Mobile robots Robot kinematics Energy consumption Soil Angular velocity

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Optimization of Large Scales Ocean Sampling for Minimization of the Kriging Variance

Optimization of Large Scales Ocean Sampling for Minimization...

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The 8th World Congress on Intelligent Control and Automation(第八届智能控制与自动化世界大会 WCICA 2010)

作者： Xinke Zhu Xiaohui Wang Jiancheng Yu Shenyang Institute of Automation Chinese Academy of Sciences & State Key Laboratory of Robotics She Shenyang Institute of Automation Chinese Academy of Sciences & State Key Laboratory of Robotics She

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. This paper shows how sampling schemes can be optimized by minimizing the integrated Kriging variance based on known covariance (variogram). We propose two approaches to reduce the computation time of searching for the optimal sampling locations. The proposed method was verified that the computing speed gets faster and faster with the number of sampling increasing by simulation.

关键词： Estimation Mathematical model Oceans Sensor phenomena and characterization Measurement Computational modeling

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