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

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Development of a Low-Cost High-Fidelity Simulator for Search and Rescue Robot

Development of a Low-Cost High-Fidelity Simulator for Search...

引用

WRI World Congress on Software Engineering, WCSE

作者： Zhenfeng Han Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424435661

This paper describes a simulator which is used to study the motion plan of search and rescue robot on bumpy road. The simulator, written in C++, is composed of Newton physics engine system and OGRE based 3D environment. All libraries used are free and the program can be compiled cross-platforms. Virtual sensors such as camera and motor coded disc are developed. Behavior-based programming interface are developed so it is easy to realize and test complex motion plan. This simulator is also a motion virtual guide to robot. Together with the help of data post processing system, difficult climbing task can be finished easily and rapidly in teleoperating way.

关键词： Computational modeling Robot sensing systems Engines Physics Mobile robots Costs Graphical user interfaces Testing Linux Computer simulation

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A dynamic model for the active catheter actuated by the shape memory alloy coil spring

A dynamic model for the active catheter actuated by the shap...

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IEEE International Conference on Mechatronics and Automation

作者： Hao Liu Yili Fu Zengyi Yan Peng Wang Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper focuses on the transient behavior of a simple active catheter composed of a bias stainless steel spring and a one-way SMA coil spring. We combine the bending mechanics derived using a circular arc model, the SMA actuator characteristic described by Liang's model, and a heat transfer model to form the dynamics of the catheter. The phase transformation condition is modified according to whether there is overlapping between two phase transform bands. The response of derived dynamic model is simulated and verified for both complete and incomplete phase transformation. A self-tuning fuzzy PID controller is also designed to be used for such a SMA structure, which exhibits effective performance through simulations.

关键词： Catheters Shape memory alloys Coils Springs Actuators Heat transfer Hysteresis Minimally invasive surgery Blood vessels Steel

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Real-time Image Processing system Based on Multi-core Processor

Real-time Image Processing System Based on Multi-core Proces...

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International Symposium on Intelligent Information technology Application, IITA

作者： Jie Zhao Yongmin Yang Ge Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper proposed a real-time image processing system based on multi-core processor, which is used in the cold rolling surface defect inspection system for enhancing system's real-time performance. Based on analyzing the application demand of inspection system image processing module, the image processing system is designed that is the combination of RT-Linux real-time operation system and multi-core processor hardware platform. Taking advantage of RT-Linux multi-task scheduling mechanism based on priority, the PCI device driver is developmented to ensure receiving and saving image data in real-time. At the same time, multi-core processor makes multi-task parallel processing to be possible. Two parallelism types are analyzed, including task-level parallelism and data-level parallelism. Finally the combination of thread-level and data-level parallelism of image segmentation based on Ostu method is implemented, verifying performance of real-time image processing system based on multi-core processor. Segmentation algorithm can efficiently utilize the multi-core processor, 3.2 times faster than a single core.

关键词： Real time systems Image processing Multicore processing Inspection Image segmentation Image analysis Process design Hardware Processor scheduling Parallel processing

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Path planning for minimizing base reaction of space robot and its ground experimental study

Path planning for minimizing base reaction of space robot an...

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IEEE International Conference on Mechatronics and Automation

作者： Jianwei Wu Shicai Shi Bin Wang Zainan Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint motion. This parameterization method can satisfy the kinematical constraints. The optimal object of base reaction is computed by inverse dynamics. In order to limit the joint velocity, an objective function including the constraint of joint velocity is defined. Genetic algorithm is introduced to solve the optimized problem, and the parameters for the minimum objective function value are found. The path planned is very smooth, and it can be applied in practical. According to the experiment on the zero gravity system, the effectiveness of the algorithm is proved.

关键词： Path planning Orbital robotics Manipulator dynamics Space technology Equations Space stations Satellites robotics and automation Fuels Genetic algorithms

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Design and analysis of a double rings type ultrasonic motor using longitudinal transducers

Design and analysis of a double rings type ultrasonic motor ...

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IEEE International Conference on Mechatronics and Automation

作者： Yingxiang Liu Junkao Liu Weishan Chen Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A double rings type ultrasonic motor using longitudinal transducers is proposed in this paper. The bending modes of rings are excited by the longitudinal vibration of transducers. Two flexural traveling waves in the two rings, which have the same direction, are excited. The working principle of proposed motor is analyzed. The ring and transducer are designed with FEM. The bending vibration modal of ring and longitudinal vibration modal of transducer are degenerated. Transient analysis is developed to gain the motion trajectories of nodes on the teeth, results indicate that two flexural traveling waves are excited in the two rings. The results of this paper could guide the development of this new type of ultrasonic motor.

关键词： Ultrasonic transducers Stators Vibrations Rotors Ceramics Teeth robotics and automation Motion analysis Couplings Testing

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A method of target recognition from remote sensing images

A method of target recognition from remote sensing images

引用

2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Shuguo Wang Yili Fu Kun Xing Xianwei Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin Heilongjiang CN

According to the characteristics of airfield and harbor from remote sensing images, a method of large target recognition based on the combination of target region and shape features is presented. First, edge detection and improved Hough transform are used to select line segments, the region including regular-array line segments in image is considered as region of interesting (ROI). ROI detection is the base for recognition. Target geometry shape is extracted from ROI using optimum threshold segmentation, which removes location effect and improves efficiency. As calculating shape principal orientations, all shapes are rotated to the same horizontally right to avoid rotation effect. The features extracted from shape implement multi-levels representation with moment features, normalized moment of inertia, length-width ratio and compact ration. Finally, feature vectors are normalized to measure similarity between target and template. Experiments show that target regions can be located accurately using ROI detection and it is effective for target recognition. Besides, the extracted features have good invariability with respect to rotation, translation and scaling, and they comprise local and overall consistency of the target, therefore, the recognition results meet expectations well.

关键词： Target recognition Remote sensing Shape Image segmentation Image edge detection Feature extraction Data mining Image recognition Robots Interference

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A novel phase current reconstruction method using a single DC-link current sensor

A novel phase current reconstruction method using a single D...

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IEEE International Conference on Mechatronics and Automation

作者： Yikun Gu Fenglei Ni Dapeng Yang Hong Liu State key laboratory of robotics and system Harbin Institute of Technology Harbin Heilongjiang China

Instantaneous phase currents are required for successful operation of three-phase current controllers. The technique for reconstructing motor phase currents using information from a single current sensor in the dc-link of an inverter has been applied to reduce the cost, weight and volume of system. However, the duration of an active switching state may be so short that the dc-link current cannot be measured reliably. This paper presents an improved PWM modulation strategy named switching state axial translation (SSAT) to overcome this problem. The new SSAT method modifies the PWM voltage vectors by moving the switching state waveforms along the axis when the phase currents cannot be measured. A combination of analytical and experimental results shows that this method offers an attractive phase current reconstruction performance.

关键词： Reconstruction algorithms Pulse width modulation Switches Pulse width modulation inverters Voltage Sensor systems AC motors Current measurement Observers Leg

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A self-adjusted precise liquid handling system

A self-adjusted precise liquid handling system

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yaxin Liu Chen Liguo Lining Sun Weibin Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In biomedical areas, such as protein crystallization, drug discovery and medical diagnostics, thousands of reagents with different viscosities need to be transferred or dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiment to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, an intelligent precise liquid handling system was developed, in which a high speed MEMS flow sensor was used. Benefiting from the feedback of sensor information, the system can self-adjust the open time of the solenoid vale to accurately dispensing desired reagent volume without pre-calibration. Firstly, the system construction was introduced in detail. Secondly, a novel closed-loop control strategy was proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1ldquol and approach 4% at 100 nl.

关键词： Viscosity Intelligent sensors Sensor systems Proteins Crystallization Drugs Medical diagnosis Liquids Micromechanical devices Feedback

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Optimal design of a 6-DOF parallel robot for precise manipulation

Optimal design of a 6-DOF parallel robot for precise manipul...

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IEEE International Conference on Mechatronics and Automation

作者： Lefeng Wang Weibin Rong Limin Qi Zhigang Qin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A 3-PPTRR parallel mechanism is presented in this paper. Six high resolution ceramic motors have been used as actuators in the parallel robot for precise manipulation applications. The inverse kinematics of the robot is analysed based on the geometrical restriction, in addition the Jacobian matrix is deduced with the vector method. A global performance index is adopted to optimize the dimensions of the parallel mechanism, and the optimization flow is built in detail. The distribution of the performance index in the whole workspace after optimization is presented. The robot has been developed according to the optimal dimensions, moreover, the resolution and repeatability performances of it are measured. The results show that the robot has fine performances for precise applications.

关键词： Parallel robots Performance analysis Kinematics Jacobian matrices Biomedical engineering Mechatronics Design automation robotics and automation Laboratories Ceramics

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Estimation of hand grasp force based on forearm surface EMG

Estimation of hand grasp force based on forearm surface EMG

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IEEE International Conference on Mechatronics and Automation

作者： Dapeng Yang Jingdong Zhao Yikun Gu Li Jiang Hong Liu State key laboratory of robotics and system Harbin Institute of Technology Harbin Heilongjiang China

In the force control of multi-functional prosthetic hands, it is important to extract grasp force information besides mode specifications directly from the myoelectric signals. In this paper, a force sensor is adopted to record the hand's enveloping force when the hand is performing several grasp modes, synchronously with 6 channels surface electromyography (EMG) which are extracting from the subject's forearm. Three pattern regression methods, locally weighted projection regression (LWPR), artificial neural network (ANN) and support vector machine (SVM) are used to find the best representative relationship of these two kinds of signals. Experimental results show that the SVM method is better than LWPR and ANN, especially in the case of cross-session validation. Also, the force regression performance is better when grasping within several specific modes than grasping randomly. Based on these results, an efficient online prediction of the hand grasp force is present finally, with an accuracy of around 0.9 in squared correlation coefficient (SCC) and 5~10 N error over a range of 60 N. It can be utilized for the prosthetic hand's control to provide a reasonable exerting force reference.

关键词： Electromyography Force sensors Prosthetic hand Support vector machines Force control Muscles Grasping Artificial neural networks Data mining Biosensors

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