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Fast feature matching based on r-nearest k-means searching

CAAI Transactions on Intelligence Technology 2018年第4期3卷 198-207页

作者： Ke Wang Ningyu Zhu Yao Cheng Ruifeng Li Tianxiang Zhou Xuexiong Long State Key Laboratory of Robotics and System School of MechatronicsHarbin Institute of TechnologyHarbin 150001People’s Republic of China China Mobile (Hangzhou) Information Technology Co. LtdHangzhou 311100People’s Republic of China

Feature matching has been frequently applied in computer vision and pattern *** this paper,the authors propose a fast feature matching algorithm for vector-based *** algorithm searches r-nearest neighborhood clusters for the query point after a k-means clustering,which shows higher efficiency in three ***,it does not reformat the data into a complex tree,so it shortens the construction time ***,their algorithm adopts the r-nearest searching strategy to increase the probability to contain the exact nearest neighbor(NN)and take this NN as the global one,which can accelerate the searching speed by 170 ***,they set up a matching rule with a variant distance threshold to eliminate wrong *** algorithm has been tested on large SIFT databases with different scales and compared with two widely applied algorithms,priority search km-tree and random *** results show that their algorithm outperforms both algorithms in terms of speed up over linear search,and consumes less time than ***,they carry out the CFI test based on ISKLRS database using their *** test results show that their algorithm can greatly improve the recognition speed without affecting the recognition rate.

关键词： Feature matching

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Approach for imitation of manned lunar rover acceleration using a prototype vehicle with imitation handling ratio on the earth

Approach for imitation of manned lunar rover acceleration us...

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作者： Liang, Zhongchao Chen, Jie Wang, Yongfu Ding, Liang Gao, Haibo Deng, Zongquan School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

The lunar surface is a complicated and unknown terrain, and hence, astronauts must be trained to travel on that surface by using a prototype vehicle on the Earth's terrain. However, the gravity of the Earth is six times that of the Moon;thus, the acceleration of a prototype vehicle on the Earth will differ from that of a manned lunar rover on the Moon, when the same acceleration handling input is provided. To obtain the same acceleration in the prototype vehicle on the Earth as that obtained on the Moon, an imitation handling ratio describing the relationship between the acceleration handling input and the wheel rolling speed is proposed in order to replicate the lunar gravitational conditions on the Earth. First, a whole-vehicle acceleration model was established based on the mechanical model of a deformable wheel with a mesh surface. Thereby an acceleration imitation algorithm was derived. A prototype vehicle for use on the Earth is proposed for the purpose of imitating the manned lunar rover under four different vehicle conditions. Fitted functions were used in order to obtain the imitation handling ratio. Finally, experiments were conducted to verify the imitation method;the results revealed that the prototype vehicle on the Earth could effectively approximate the same accelerations experienced by a manned lunar rover, when equivalent acceleration handling inputs were provided. © 1967-2012 IEEE.

关键词： Lunar missions

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A Design and Ealuation of Hand-held Mechatronic Laparoscopic Surgical Robot

A Design and Ealuation of Hand-held Mechatronic Laparoscopic...

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2018 International Conference on Control and Robots, ICCR 2018

作者： Xue, Renfeng Du, Zhijiang Yan, Zhiyuan Ren, Bingyin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538682432

This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitie and ergonomic as its accurate master-slae motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking errors. To erify the effectieness and alue for real clinical application, position compensation and suturing experiments are performed. Experiments results show position tracking errors are reduced significantly. The aerage time of fie continuous suturing is about 90s and the insertion and piercing position errors are 1mm and 2mm respectiely. © 2018 IEEE.

关键词： Robotic surgery

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Multi-Objective Optimization of Less-Rare-Earth Interior Permanent Magnet Synchronous Machines Used for Electric Vehicles

Multi-Objective Optimization of Less-Rare-Earth Interior Per...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Weinan Wang Mingqiao Wang Jiaxu Guo Yong Liu Ping Zheng Zhenxing Fu School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China School of Electrical Engineering & Automation State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728133997

The less-rare-earth interior permanent-magnet synchronous machines (LRE-IPMSM), which have the advantages of high electromagnetic performance and low cost, draw more and more attention nowadays in the field of the electric vehicles. The requirements of the machines used for electric vehicles include high torque and high efficiency. Hence, the multi-objective optimization is crucial to LRE-IPMSM. In this paper, firstly, the effects of the permanent magnet (PM) thickness and width on the torque and efficiency are studied. Then, the PM widths are selected as the optimization variables based on the performance analysis. Lastly, the optimized design is obtained by the multi-objective optimization analysis.

关键词： Torque Optimization Electric vehicles Permanent magnet machines Synchronous machines

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Parameter analysis and design of annular deployable tensegrity antenna

Parameter analysis and design of annular deployable tensegri...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Yang, Haoyu Guo, Hongwei Li, Bingyan Li, Bing Liu, Rongqiang College of Mechanical and Electrical Engineering Harbin Engineering University 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150000 China

ISBN: (纸本)9781538680698

Under the prospective aerospace applications of deployable tensegrity, this work aims to research on the ultralight annular deployable tensegrity antenna to satisfy the space requirements. To begin with, the deployment principle of this antenna is illuminated and the parametric modeling is carried out. After node matrix and connectivity matrix is established, the matrices of both bars and strings are obtained. Configuration parameters are planted into the computing system through node matrix. On this base, the configuration parameters is able to be calculated out through geometric analysis and interior force analysis for the antenna. Then, the algorithm of deploying process is established with MATLAB. With initial set of constant bar length and changing range of structure radius, design parameters are put into the spotlight in order to construct an efficient deployable antenna. The geometric trait of this annular tensegrity confines the solution domain of design parameters to a narrow area. Since then, in the solution domain, the optimization on the synthetical standard of various configuration parameters is performed and a combination of design parameters is selected eventually. With determined design parameters, configuration parameters can be calculated out in any state of the deploying process. Additionally, simulation for deploying process can be executed with concrete numerical values, and the results provide guides for the prototype hardware design. The prototype is manufactured and assembled, and it turns out to deploy effectively. Comparing the theoretical values and practical ones, the analysis and simulation matches the experiment to some degree. © 2018 IEEE.

关键词： Antennas

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Development of a 4H-SiC Piezoresistive Pressure Sensor for High Temperature Applications

Development of a 4H-SiC Piezoresistive Pressure Sensor for H...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems

作者： Xudong Fang Libo Zhao Chen Wu Yulong Zhao Xin Guo Zhuangde Jiang State Key Laboratory of Robotics and System (HIT) State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Xi’an Jiaotong University 710049 Xi’an China State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University 710049 Xi’an China

A piezoresistive pressure sensor based on 4H-SiC was developed for working over 500℃. The designed pressure range is 0-7MPa for special aviation applications. As demonstrated with experimental results, in this pressure range, the sensor shows excellent accuracy and repeatability from 30℃ to 500℃. Compared with previous studies, in MEMS processing of the sensor chip, a suitable alloy system was determined to form a stable high-temperature ohmic contact. Besides, the chip was packaged with mechanical structure and ceramic glue of similar thermal expansion coefficient to avoid thermal stress induced when increasing temperature. With the above measures taken, the sensor performance can be significantly improved. The design, fabrication, and package of this sensor provide support for high-temperature use. Additionally, this work can be a reference for future research in this field.

关键词： Pressure sensors Temperature sensors Piezoresistance Micromechanical devices Silicon carbide Conferences Thermal stresses

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Design of a Series Elastic Actuator with Double-layer Parallel Spring for Lower Limb Exoskeletons

Design of a Series Elastic Actuator with Double-layer Parall...

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IEEE International Conference on robotics and Biomimetics

作者： Chaofeng Chen Zhijiang Du Long He Linxiang Huang Jiaqi Wang Yongjun Shi Guoqiang Xu Fang Si Tiantian Xiao Dongmei Wu Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Weapon Equipment Research Institute China South Industries Group Corporation Beijing China

This paper presents a novel Series Elastic Actuator (SEA) with double-layer parallel spring for lower limb exoskeletons (LLE). The SEA can improve the human-robot interaction comfort and have the ability to absorb shock and vibration. In order to make the assembly process simple and convenient, the series elastic unit adopt split structure, which includes an inner ring structure, an outer ring structure and rectangular springs as elastic element. At the same time, in order to meet the requirements of the stiffness and dimensions of the SEA, a double-layer parallel spring arrangement is adopted. The stiffness of SEA is 312Nm/rad, which is obtained by the stiffness calibration experiment. In the experiments, the SEA is used in the knee joint of LLE and an impedance controller is designed to achieve knee joint tracking motion. Finally, the experiments results show the position tracking performance of the LLE, which illustrates the effectiveness of the SEA.

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Front Cover: A Strain-engineered Helical Structure as a Self-adaptive Magnetic Microswimmer (ChemNanoMat 6/2021)

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ChemNanoMat 2021年第6期7卷

作者： Xiaojie Shi Jinrun Liu Ye Kong Dr. Borui Xu Prof. Tianlong Li Prof. Alexander A. Solovev Prof. Yongfeng Mei Department of Materials Science & State Key Laboratory of ASIC and Systems Fudan University 220 Handan Road Shanghai 200433 P. R. China School of Mechatronics Engineering & State Key Laboratory of Robotics and System Harbin Institute of Technology 92 Xi Da Zhi Jie Haerbin 150001 P. R. China

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Connectors based on 2-way SMA actuator for self-reconfigurable chain robots 15

Connectors based on 2-way SMA actuator for self-reconfigurab...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Ni, Fenglei Li, Yongqiang Zhou, Yunhu Liu, Hong Tang, Yuan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

ISBN: (纸本)9781538660720

Self-reconfigurable modular robots have shown great potential in carrying out multiple tasks in different conditions. A connection of both flexibility and reliability is critical for realizing the docking and transformation of the modular robots. We propose a new design of connectors based on SMA which has the advantages of high autonomy, small size and high speed. The couples of connectors consist of active and passive connector. In the active connector, a two-way rotary SMA actuator is used as the actuation mechanism. The double-layer cam and claws are used as an executive mechanism. The passive connector can be securely docked in five different facets for 3D reconfigurations. The multisensory system and hardware architecture provide the foundation for control strategies. The design and the prototype of the connector are described in this paper. Finally, experimental results to evaluate the performance of docking are presented. © 2018 IEEE.

关键词： Modular robots

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Development of Deep-Sea Resonant Sandwich Linear Ultrasonic Motor

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Journal of Applied Mathematics and Physics 2018年第1期6卷 296-300页

作者： Shaopeng He Shengjun Shi Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A deep-sea resonant sandwich linear ultrasonic motor is proposed and designed. We determine the parameter of its structure by finite-element analysis. The piezoelectric actuator adopts compound vibration mode of fifth order bending vibration and second order longitudinal. The mode degeneracy of that is completed. We manufacture the prototype to measure the performance of it. We measure its vibration mode and resonant frequency. The velocity of prototype can reach 264.5 mm/s while the water pressure is 8 MPa and the voltage signal with frequency of 30.30 kHz and voltage amplitude of 150 V.

关键词： Piezoelectric Actuator Finite-Element Analysis Hybrid Mode Fluid-Solid Coupling

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