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International Conference on Control, Automation, robotics and Vision

作者： Cao.LI Zongwu.XIE Kui.SUN Hong.LIU Yongjun.ZHENG State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R.China School of Architecture Design and the Built Environment Nottingham Trent University Nottingham UK

ISBN: (纸本)9781424478149

This paper is to develop an ontology-based mobile environment for collaborative product design and manufacture, which enables geographically dispersed team members to collaborate over the internet within the total design or manufacturing process, including product design specification, conceptual design, detail design, manufacture and recycling. In this paper, a database which based on a new method named ontology is built up to demonstrate the all related information in order to achieve an efficient and convenient management. According these two achievements, a new data management system is built and tested in the mobile device and compared to the traditional data management system at the end of this paper.

关键词： ontology mobile web

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Experimental study on the characteristics of weak corrosive surfactant drag reducer

Experimental study on the characteristics of weak corrosive ...

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12th International Conference on Engineering, Science, Construction, and Operations in Challenging Environments - Earth and Space 2010

作者： Su, Wen-Tao Li, Feng-Chen Dong, Yong Cai, Wei-Hua Jiao, Li-Fang Wei, Jin-Jia Yu, Bo School of Energy Science and Engineering Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Multiphase Flow in Power Engineering Xi'an Jiao Tong University Xi'an 710049 China Beijing Key Laboratory of Urban Oil and Gas Distribution Technology China University of Petroleum Beijing 102249 China

ISBN: (纸本)9780784410967

Experimental study on drag-reducing characteristics of a zwitterionic surfactant additive (C20H43NO) in a circulation system has been carried out. It was based on the optimum concentration, temperature effect and the characteristics of resisting shear in DN27.5 pipeline. The results showed that C20H43NO additive has a significant drag-reducing effect depending on concentration and temperature. The most effective concentration in the tested flow loop was 900ppm at 60°C. The temperature range of the drag-reducing effect was in the range of 40 ∼ 70°C. The maximum drag reduction (DR) of 900ppm C20H 43NO aqueous solution was 77% at the beginning of circulation with system running between 41°C and 43°C. The drag-reducing effect does not decrease remarkably after the circulation system ran for a period of seven hours, but reduces to only 5% of DR after a period of twenty-three hours. In order to study the drag-reducing characteristics of C20H 43NO aqueous solution in the practical district heating system, the experiments with C20H43NO aqueous solution flow in different inner-diameter pipelines including DN50 and DN100 with rough wall were performed. The results indicated that the optimum drag-reducing concentrations are 1500ppm and 2500ppm at 45∼50°C in the DN50 and DN100 circular pipes, respectively. Finally, the technique of drag-reducing additive applying into the district heating system is discussed. And some problems in the practical application were brought forward, such as, the poor life-span of surfactant, the instabilities of drag-reducing effect and the inherent corrosion of additive itself. According to these problems, the corrosion research of C 20H43NO aqueous solution was also conducted based on immersion method. The results show that: C20H43NO aqueous solution is weakly corrosive for iron-based metallic pipe comparing with CTAC aqueous solution and water. © 2010 ASCE.

关键词： Pipelines

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Trajectory tracking and point stabilization of noholonomic mobile robot

Trajectory tracking and point stabilization of noholonomic m...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zhengcai Cao Yingtao Zhao Shuguo Wang College of Information Science and Technology Beijing University of Chemical and Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

In this paper, a mixed controller for solving the trajectory tracking and point stabilization problems of a mobile robot is presented, applying the integration of backstepping technique and neural dynamics. By introducing a virtual target point, the whole motion process is divided into two parts. The first one is employed to realize tracking control and the other one is adopted to implement point stabilization. Each part produces a feedback control law by using backstepping technique. Moreover, to solve the speed and torque jump problems and make the controller generate smooth and continuous signal when controllers switch, the neural dynamics model is integrated into the backstepping. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.

关键词： Mobile robots Trajectory Target tracking Robot kinematics Angular velocity

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Observer-Based Dynamic Control of an Underactuated Hand

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Advanced robotics 2010年第1期24卷 123-137页

作者： Huang Hai haihus@*** Jiang Li Pang Yong-jie Shi Shi-cai Tang Qi-rong Yang Da-peng Liu Hong Key Laboratory of Science and Technology for National Defense of Autonomous Underwater Vehicle Harbin Engineering University Harbin 150001 P. R. China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 P. R. China University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

The purpose of this paper was to construct a velocity observer based on the dynamic model and realize accurate dynamic curve and force control. Curve fitting with the observer obtained precise velocity signals. Compared with PID and factored moment methods, it decreased the fitting errors a lot and achieved ideal results. Compensated with the inverse dynamic equation, the force-based impedance control with the observer could not only realize accurate force tracking, but achieve finger dynamic control by the combination of curve fitting and force tracking. Furthermore, a static grasp model was established for appropriate force distribution. The finger could grasp slippery, fragile, comparatively heavy and large objects like an egg with only base joint torque and position sensors, which illustrated that the hand could accomplish difficult tasks by using the static grasp model and dynamic control. [ABSTRACT FROM AUTHOR]

关键词： curve fitting DYNAMIC CONTROL force control UNDERACTUATED VELOCITY OBSERVER

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Notice of Modification

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仿生工程学报(英文版) 2010年第1期7卷 112-112页

作者： Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Dear readers,In the paper "An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals", Journal of Bionic Engineering, 2009, 6, 255-263, by Dapeng Yang et al., we adopted an experi-mental method already developed by the DLR (German Aerospace Center). Unfortunately, we did not cite their main works properly at that time. We sincerely apologize for this mistake to Dr. Cas'tellini, Dr. van der Smagt and other coauthors.

关键词： Center works Robot paper Based main Hand van EMG der Cas

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Passive location accuracy analysis in bearing-only constellation system

Passive location accuracy analysis in bearing-only constella...

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International Symposium on systems and Control in Aerospace and Astronautics

作者： Deng, Yong Hu, Xiao-Hui Zhang, Zhong-Zhao Xie, Kai Communication Research Center Harbin Institute of Technology China National Key Laboratory of Integrated Information System Technology Institute of Software Chinese Academy of Sciences China Military Photoelectricity Engineering T and R Section Artillery of PLA China

ISBN: (纸本)9781424460441

Position location in three-dimensional (3-D) scenarios is studied in bearing-only location system. Through mathematical calculation in 2-D scenarios, the relationship between location accuracy and observation geometry is discussed, and the optimal location geometry relationship and the lowest GDOP in the whole observation region are presented. Finally, the relationship between GDOP and the bearing measurements of passive sensors is shown in the simulation results. GDOP distribute figures under various observation geometry condition are plotted. Some conclusions can be used for reference in designing passive location constellations and collocating passive sensors to improve location accuracy. ©2010 IEEE.

关键词： Geometry

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Software implementation of bar tacker control system

Software implementation of bar tacker control system

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GCIS, WRI Global Congress on Intelligent systems

作者： Cui Ma Xiaohui Xie Qiang Sun R. Du Shenzhen Institutes of Advanced Technology Chinese Academy and Sciences Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of technology Harbin Heilongjiang China Chinese University of Hong Kong Hong Kong China

This paper presents a multi-axis control system of bar tacker. A bar tacker must meet the following requirements: feeding accurately, cutting automatically, needle stopping precisely and quickly, et ac. In order to achieve these functions, multi-thread synchronization control was introduced to ensure the multi-axis collaborative motion. And time-based PI method with velocity feed-forward was used to control the needle stop position. The software of this control system was programmed based on embedded Windows platform. At present this control system has been tested in the factory and the test results show that this method can accurately control the multi-axis motion and produce good sewing patterns. Besides lockstitch bar tacker, this control system can also be applied to other intelligent sewing machines by minor changes and improvement.

关键词： Servomotors Needles Position control Instruction sets Pi control Collaboration

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Treatment of Coal Chemical Wastewater by Two-Stage Anaerobic Process

Treatment of Coal Chemical Wastewater by Two-Stage Anaerobic...

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IEEE PES Asia-Pacific Power and Energy Engineering Conference (APPEEC)

作者： Wei Wang Hong-jun Han Hui-qiang Li Fang Fang State Key Laboratory of Urban Water Resources and Environment Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424448128

The treatment of coal chemical wastewater by the two-stage anaerobic process was studied in this paper. The results showed that the removal efficiency of chemical oxygen demand (COD), total phenols (TP), and volatile phenol (VP) could reach 53.9%, 52.6%, 84.9%, respectively, which was significantly better than the single-stage anaerobic unit. The division of each unit was different in the two-stage anaerobic process. The high removal of the easily degradable organic matter and the conversion of the volatile phenol compounds were achieved in the first stage anaerobic unit. The second stage anaerobic unit focused on the transformation of phenolic pollutants and ensured the stability and efficiency in the system. The two-stage anaerobic process offered an effective way for the treatment of coal-chemical wastewater.

关键词： Wastewater treatment Chemical processes Poles and towers Chemical technology Pollution Stability Biological processes Temperature Thermal degradation Hydrocarbons

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An approach for corresponding vertexes of robots and application in formation control

An approach for corresponding vertexes of robots and applica...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Wang-bao Xu Xue-bo Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China

Determinating corresponding vertexes of robots is the precondition and base for utilizing artificial moment method to control multi-robot formation. In this paper, a new criterion based on generalized assignment problems is proposed to determine corresponding vertexes of robots, and its character is discussed. Then, according to the minimum increment principle, a new method for generalized assignment problems is presented, and the program is given in MATLAB language. Finally, numerical experiments were done. Both theory and results of experiments show that the criterion is as good as the distance-optimization correspondence, and the method has many advantages, such as low time complexity, and solutions being very close to the optimal solution, so they are feasible and valid.

关键词： Lead Control systems Moment methods Mobile robots MATLAB Information science

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Multiple-Pursuer Cooperative Multiple-Evader Games based on auction mechanism

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harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2010年第SUPPL. 2期42卷 160-164页

作者： Cai, Ze-Su Hong, Bing-Rong Sun, Li-Ning State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

This paper mainly discusses Multiple-Pursuer Cooperative Multiple-Evader Games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional Contract Net protocol is extended, including the motivational vector of robot, the trust degree and the acquaintance degree to improve the alliance decision. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on auction was proposed in this paper. It allocated task dynamically through capability classification and independent competition. It can support the dynamically changing capability of each agent and reduce the cost of communication and the difficulty of acquiring knowledge. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multipurpose robots

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