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Motion Planning Algorithms of Redundant Manipulators Based on Self-motion Manifolds

Chinese Journal of Mechanical Engineering 2010年第1期23卷 80-87页

作者： YAO Yufeng ZHAO Jianwen HUANG Bo State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150081 China

The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.

关键词： redundant manipulators self-motion motion planning inverse kinematics

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state Estimation for Discrete-Time Singular Jump systems with Non-Accessible Mode Information

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Circuits, systems, and Signal Processing 2011年第2期31卷 761-777页

作者： Ming Liu Qingling Wang Sheng Qu State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing China School of Astronautics Harbin Institute of Technology Harbin China

The mode information of Markovian jumping systems is always not accessible due to unexpected phenomenon such as data packet losses in networked control systems. It is thus extremely desirable to develop mode-independent filtering techniques for Markovian jumping systems. In this paper, a new mode-independent filtering design strategy is presented for a class of discrete-time singular time-delay systems with Markovian jumping parameters. Sufficient conditions are established so that the derived error system is regular, causal and stochastically stable with a prescribed H ∞ performance level. In addition, it is illustrated that the proposed results are less conservative numerically than those in the references. Finally, two numerical examples are given to demonstrate the effectiveness of the proposed approaches.

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A Fenton-like system combined by Co2+ and potassium Monopersulfate for the treatment of benzoic acid

A Fenton-like system combined by Co2+ and potassium Monopers...

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International Conference on Consumer Electronics, Communications and Networks

作者： Liwei. Chen Jun. Ma State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612844589

In this paper, the Fenton-like oxidation system combined by Co 2+ and potassium Monopersulfate (PMS) for the treatment of benzoic acid (BA) was investigated. The BA degradation was increased with the increasing of Co 2+ dosage and PMS dosage. However, when the molar ratios of Co 2+ to PMS were higher than 1:50, the increase of BA degradation rates were not so visible. The new system was more efficient than the conventional Fenton system for it shown obvious catalytic activity in a much wider pH range from 4 to 10. The Co 2+ /PMS system led the formation of sulfate radicals, which were identified with quenching studies using specific alcohols. The sulfate radicals are stronger oxidants than hydroxyl radicals especially in neutral pH range. The Co 2+ /PMS Fenton-like oxidation process could be considered as one of the most promising technologies for practical application for water treatment.

关键词： Oxidation Cobalt Degradation Barium Iron Water resources system-on-a-chip

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A novel optimal calibration algorithm on a dexterous 6 DOF serial robot-with the optimization of measurement poses number

A novel optimal calibration algorithm on a dexterous 6 DOF s...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Kui Sun Tian Li Yue Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150001 Chi College of Electromechanical Engineering China University of Petroleum Dongying 266555 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

Normally, people always believe that the more measurement poses used in a robot calibration process, the more accurate result can be obtained. However, the accuracy improvement converges to a threshold after a number of measurement poses. Moreover, robot calibration is a time consuming process, too many poses would seriously complicate the process and consumedly increase the spending time. In this paper, an optimal measurement pose number searching method was proposed to improve the calibration method in time spending aspect. Optimal robot poses were added to an initial pose set one by one to establish a new pose set for the robot calibration. The root mean squares (RMS) of the end-effector pose errors after being calibrated by using these pose sets were calculated. The optimal number of the configuration set which correspond to the least RMS of pose error can then be obtained. This algorithm can get higher end-effector accuracy, meanwhile consume less time. The simulation on a serial robot manipulator with 24 unknown kinematic parameters shows that the end-effector pose accuracy after calibrated by the using of the optimal pose set is much better than the result before calibration, and is better than the using of a random pose set.

关键词： Kinematics Robots Calibration Joints Observability Jacobian matrices Indexes

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N-removal with low carbon and phosphorus levels

N-removal with low carbon and phosphorus levels

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International Conference on Electric technology and Civil Engineering (ICETCE)

作者： Jing Xiao Guoren Xu Fangmao Gan State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457702891

Low carbon and phosphorus concentrations were controlled to investigate their influences on nitrogen removal in activated sludge reactors. Results demonstrated that when the initial COD/ NH 4 + -N (C/N) ratio was adjusted to 4/1, NH 4 + -N removal efficiency achieved the maximum value of 93.0%. With the rising of C/N ratio, total nitrogen (TN) removal efficiencies increased gradually while NH 4 + -N removal efficiencies had slight downward trend. When the C/N ratio was 10/1, TN removal efficiency in the system reached the maximum value of 64.2% comparing to those at C/N ratios of 8/1, 6/1 and 4/1. However, TN removal efficiencies decreased with the reduction of total phosphorus concentration in the influent at constant C/N ratio. When the C/P ratio varied from 100/1 to 100/0.6, TN removal efficiencies declined a little. When the C/P ratio decreased to 100/0.4, TN removal efficiencies reduced dramatically. In general, low carbon level had little impact on NH 4 + -N removal efficiency, just adverse to total nitrogen removal efficiency which was low at C/N ratio of 4/1. Low phosphorus concentration had a significant negative effect on NH 4 + -N and total nitrogen removal efficiency. Low phosphorus concentration had significant negative effect on NH 4 + -N and total nitrogen removal efficiency which even resulted in sludge bulking.

关键词： Nitrogen Microorganisms Effluents Carbon Inductors Wastewater

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Research on a wavelet transform based hybrid rate allocation algorithm for stereo images compression

Research on a wavelet transform based hybrid rate allocation...

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2011 Cross Strait Quad-Regional Radio Science and Wireless technology Conference, CSQRWC 2011

作者： Li, Shizhong Liu, Xiaofeng Gu, Xuemai Li, Yunsong School of Earth and Space Sciences Peking University Beijing 100871 China Communication Research Center Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Integrated Service Networks Xidian University Xi'an Shaanxi 710071 China

ISBN: (纸本)9781424497904

Three regional images could be obtained by the three-line-array stereo CCD camera with three sensors named forward-sensor, nadir-sensor and back-sensor at the same time. The amount of data got by this kind of camera is three times to the single camera system, so it's difficult to transmit the data in real time over a satellite to ground channel. At present, the stereo images are compressed independently, without using the characteristics of the stereo image features, so that the compression efficiency is lower. In this paper, a novel stereo image compression algorithm using a wavelet transform based hybrid rate allocation is proposed. The three stereo images could be compressed with different compression rate which was adaptively allocated according to each image complexity with the restriction on the total compression rate,and the reconstructed images would be less distortion. The experiment results show that the algorithm is better than the single band compression either on the PSNR, geometry precision or the subjective quality. The quality of the reconstructed images from the forward-sensor, nadir-sensor and back-sensor is more balanced, which is conducive to the subsequent processing and applications of the mapping data. © 2011 IEEE.

关键词： Mapping

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Self-configuring quick bp neural network and its application to parallel robot's forward kinematics solution

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ICIC Express Letters, Part B: Applications 2011年第4期2卷 959-966页

作者： Zhang, Shihui Kong, Lingfu State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China College of Information Science and Engineering Yanshan University No. 438 West Hebei Street Qinhuangdao 066004 China

The learning algorithm for self-configuring quick BP neural network is proposed in this paper. It makes the number of hidden nodes more reasonable by merging or deleting hidden nodes in the same layer of the initial quick BP network model, and consequently overcomes the limitation in determining the number of hidden nodes only depending on experiments in the past. In addition, it also attains the goal to optimize network structure and improve network performance. As examples, the self-configuring quick BP neural network is applied to forward kinematics solution of parallel robot. The experimental results show the proposed method not only can guarantee calculation precision but also has advantages of less calculation amount and quick speed, which benefits to the real time control for parallel robot. © 2011 ISSN 2185-2766.

关键词： Real time control

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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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A Flexible Hingeless Control Surface Inspired by Aquatic Animals

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Journal of Bionic Engineering 2010年第4期7卷 364-374页

作者： Zhenlong Wang,Jian Li,Guanrong Hang,Yangwei Wang state key laboratory of robotics and system,harbin institute of technology,harbin 150001,P.R.China [a] State Key Laboratory of Robotics System Harbin Institute of Technology Harbin 150001 P. R. China

A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and *** Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the *** elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the *** analysisof SMA wires was performed to find proper actuating ***-loop bending experiments were carried *** resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.

关键词： bio-inspired flexible hingeless control surface CFD shape memory alloy wire underwater vehicle

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Comparison of Coagulation Efficiencies of Tannic Acid Containing Turbidity Water by using Alum and Poly-aluminum Chloride as Coagulants

Comparison of Coagulation Efficiencies of Tannic Acid Contai...

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2011 International Conference on Agricultural and NaturalResources Engineering (ANRE 2011)

作者： Chen Zhong-lin Wang Xiao-rong Shen Ji-min Wang Bin-yu Liu Xiao-wei Zhao Sheng-xin State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology

Coagulation efficiencies of alum and poly-aluminum chloride(PACl) were compared for treating tannic acid containing turbidity water in terms of residual turbidity, p H, UV254, DOC, Zeta potential and residual aluminumThe growth and microtopography of flocs were also studied by the system of photo collected, electron microscope and atom force microscopeThe results showed that alum could removal turbidity, UV254 and DOC more efficiently than PACl with lower residual alum;after the addition of coagulants, the flocs formed by PACl appeared earlier and were larger than that by alum;the sediments formed by PACl contained more waterTherefore, alum was more efficient than PACl for treating tannic acid containing turbidity water.

关键词： Coagulation,tannic acid,alum,PACl,flocs

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