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IEEE International Conference on Automation and Logistics

作者： Fujun He Yingfei Sun Xiaolei liu Zhijiang Du Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching.

关键词： Mobile robots Robot sensing systems Gas detectors robotics and automation Helium Indoor environments Robot vision systems Fuzzy systems Fuzzy logic Sensor phenomena and characterization

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Study on a novel 6-DOF combinational parallel manipulator

Study on a novel 6-DOF combinational parallel manipulator

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IEEE International Conference on robotics and Biomimetics

作者： Wei Zhao Bing Li Hongjian Yu Ying Hu State Key Laboratory of Robotics and System Harbin Institute of Technology Shenzhen China Harbin Institute of Technology Harbin Heilongjiang CN Cognitive Technologies Laboratory Shenzhen Institute of Advanced Technology Chinese Academy and Sciences Shenzhen China

A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism is evaluated according to dexterity criteria. In order to satisfy the different configuration requirements, the two reconfigurable structures are presented based on the presented 6-DOF parallel mechanism. The work provides basis for the development of the novel robotic manipulator.

关键词： Manipulators Fasteners Kinematics Parallel robots Fixtures Jacobian matrices Biomimetics Equations Interference Cognitive robotics

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DSP&FPGA-based joint impedance controller for DLR/HIT II dexterous robot hand

DSP&FPGA-based joint impedance controller for DLR/HIT II dex...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： T. Lan Y.W. Liu M.H. Jin S.W. Fan H.G. Fang J.J. Xia H. Liu State Key Laboratory of Robotics and System (HIT) Harbin China Institute of Robotics and System Dynamics German Aerospace Center Germany

A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and position measuring. The experimental results of joint impedance control show that proposed strategy not only improves the effectiveness of contact task performance, but also provides compliant interaction of robot hand with a person, thus enables robot hand to work in different environments.

关键词： Impedance Control systems Robot sensing systems Orbital robotics Position control Human robot interaction Communication system control Intelligent robots Fingers Timing

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Dynamic Analysis and Robust Reliability Design of Pan Mechanism for a cooking Robot

Dynamic Analysis and Robust Reliability Design of Pan Mechan...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Hong Wang Wei Zhao Bing Li Xiaorui Lin Donglai Zhang Harbin Institute of Technology P.R.China State Key Laboratory of Robotics and System (HIT)Harbin 150001P.R.China

ISBN: (纸本)9781424447749

As a novel service robot, the automatic cooking robot(ACR) has been attracting many people's attentions. But the existing products still have some disadvantages, especially the quick-return mechanism used as the main mechanism to turn over the pan. There are always large vibrations and noises accompanying with the motions of the quick-return turning-over mechanism. And its stability and reliability which are the important factors influencing the quality of the dishes are not high. Therefore, a proved turning-over mechanism is introduced based on the purpose of vibration and noise reduction. The dynamic analyses of the two turning-over mechanisms are done through Ansys and their low-order natural frequencies and vibration modes are presented in this paper. And it is concluded that the proved mechanism has smaller vibration and noise through the comparison of natural frequencies and integer displacements. Then, the key factors influencing the reliability of the turning-over motion are analyzed through the design and analysis of robust reliability.

关键词： Dynamic analysis cooking robot Natural frequencies Noise noise damping peroxyacetyl nitrate Turning parabolic reflectors Vibration Vibrations modes

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Development of Integrated Micro Nano-positioning xy-stage based on Bulk Micro-machining

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Journal of Wuhan University of technology(Materials Science) 2009年第S1期24卷 195-199页

作者：王家畴 State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information TechnologyChinese Academy of Sciences State Key Laboratory of Robotic and System Harbin Institute of Technology

For operation and manipulation with nanometric positioning precision,an integrated micro nano-positioning xy-stage is developed,which is mainly composed of a silicon-based xy-stage,comb-driven actuator and displacement *** high-aspect-ratio comb-driven xy-stage is achieved by deep reactive ion etching (DRIE) in both sides of *** displacement sensor is mainly composed of four vertical sidewall surface piezoresistor connected to form a full Wheatstone bridge.A simple vertical sidewall surface piezoresistor process which improves on the basis of the conventional surface piezoresistor technique is *** experimental results verify the integrated micro nano-positioning xy-stage including the vertical sidewall surface piezoresistor *** sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV/μm without amplification and the linearity is better than 0.814%.Under 30 V driving voltage,a ±10 μm single-axis displacement is measured without *** displacement resolution of the micro xy-stage is better than 10.8 nm.

关键词： MEMS silicon integrated xy-stage comb-driven actuator vertical sidewall surface piezoresistor

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Dynamic Stability Gait Planning of kid Humanoid Robot

Dynamic Stability Gait Planning of kid Humanoid Robot

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Jie Zhao Le Qi Jihong Yan Yanhe Zhu State Key Laboratory of Robotic Technology and System Harbin Institute of TechnologyHarbinHeilongjiang Province150001.China

ISBN: (纸本)9781424447749

We adopt multi-point planning method based on cubic spline function to perform parametric design of dynamic walking. The objective of optimization is to achieve maximum ZMP stability and minimum joint driving torque, together with the combination of multi-objective genetic algorithm to optimize the gait parameters. Simulation verification has also been carried out in ADAMS and Matlab after optimization. In addition, we tested dynamic walking on kid humanoid robot platform, by which the realization of dynamic and steady walking of physical prototype further proves the validity of the theoretical research. Moreover, we've made a preliminary study on the planning method of performing complex actions such as push-ups, by which the realization of scheduled actions through simulation and physical prototype experiments also proved the rationality of the planning.

关键词： genetic algorithm ZMP simulation gait planning

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Enhanced biodegradation of reactive dye by immobilized white rot fungi Phanerochaete chrysosporium

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harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2009年第10期41卷 52-57页

作者： Gao, Da-Wen Liang, Hong Zeng, Yong-Gang State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin 150090 China School of Forestry Northeast Forestry University Harbin 150040 China

In order to enhance enzyme production and degradability of dyestuff, white rot fungus Phanerochaete chrysosporium immobilized with polyurethane foam carriers was investigated in agitated Erlenmeyer flasks. Results showed that the decolorization of 95 % was achieved in the immobilized system only after incubating Phanerochaete chrysosporium for 5d, which was higher than 15% in the free suspended culture for 7d. The maximum activity of MnP was 963.61 U/L in the immobilized culture, while it was 269.52 U/L in the suspended culture. Moreover, the consumption of carbon and nitrogen substrates in the immobilized culture was much faster than that in the free suspended culture, and the production of H2O2 in immobilized culture was higher than that in the free suspended culture. It can be concluded that the enhanced biodecolorization of reactive dyes in immobilized culture of Phanerochaete chrysosporium is due to the increased activity of MnP and H2O2 concentration caused by fast consumption of carbon and nitrogen substrates in the culture system.

关键词： Manganese compounds

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Effects of Nitrate Concentration in Main Anoxic Zone on Denitrifying Dephosphatation

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Journal of Donghua University(English Edition) 2009年第4期26卷 443-449页

作者：尹军王晓玲祝贵兵叶龙吴相会 School of Municipal and Environmental Engineering Harbin Institute of Technology School of Municipal and Environmental Engineering Jilin Architectural and Civil Engineering Institute State Key Laboratory of Environmental Aquatic Chemistry Research Center for Eco-Environmental SciencesChinese Academy of Sciences

The effects of nitrate concentration in the main anoxic zone on denitrifying dephosphatation capability were conducted based on modified University of Cape Town （MUCT） process. Meanwhile the relation between optimal nitrate concentration （Nopt） and influent C/N ratio was evaluated, in which the influont chemical oxygen demand （COD） concentration was stabilized at （2905：10）mg/L, the influent total phosphorus （TP） concentration was stabilized at （7.0±0. 5）mg/L. The results indicated that：（1） the nitrate concentration in the main anoxic zone had an effect on denitrifying dephosphatation capability, and the average percentages of anoxic phosphorus uptake in total phosphorus uptake （ηa） increased with nitrate cancentration increasing, i.e., increasing from 62.1% at2.0 mg/L to63.7%, 65.6%, 68.1%, and 72.3% at 2.2, 2.4, 2.6 and 2.8mg/L, respectively; （2） the Nopt as function of influent C/N ratio could be calculated by the equation： y = 0.67x^2-7.79x ＋ 22. 21; the maximum percentages of anoxic phosphorus uptake in total phosphorus uptake （ηa,max） as function of the Nopt could be calculated by the equation： y=0.77-0.33e^-（x/1.52）. The Nopt was the important control parameter that must be optimized for operation of conveational biological nutrieat removal activated sludge （BNRAS） system.

关键词： MUCT process denitri fying de phosphatation nitrate concentration anoxic phosphorus uptake

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Binaural Sound Localization Based on Detection of Multi-band Zero-Crossing Points

Binaural Sound Localization Based on Detection of Multi-band...

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International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Cong-qing Li Shi-jie Dai Fang Wu He Huang Li-xin Sun Li-ying Sun School of Mechanical Engineering Hebei University of Technology Tianjin China Tianjin Institute of Urban Construction Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

A method of binaural sound localization based on detection of multi-band zero-crossing points generated from binaural filter-band outputs is presented. In the presented method, the ITD values are estimated by a histogram weighted by the estimated source noise rate(SNR) computed from the variances of ITD samples. As a result, the method provides an accurate estimate of sound source direction and is more robust to noise. To verify the validity of the method, simulations for sound localization are performed under the condition of white noise. The simulation results show that the method is able to provide an accurate estimate of sound source direction and is more robust to noise while offering significantly less computational complexity compared to the conventional cross-correlation based methods.

关键词： Acoustic noise Noise robustness Signal to noise ratio Computational complexity Working environment noise Frequency Intelligent networks Computational modeling Sun Humans

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A Novel Method of Binaural Sound Localization Based on Dominant Frequency Separation

A Novel Method of Binaural Sound Localization Based on Domin...

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Congress on Image and Signal Processing, CISP

作者： Cong-qing Li Fang Wu Shi-jie Dai Li-xin Sun He Huang Li-ying Sun School of Mechanical Engineering Hebei University of Technology Tianjin China Tianjin Institute of Urban Construction Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

A novel method of binaural sound localization based on the dominant frequency separation is proposed. In this method, the ITD values is estimated by using the property for sound signals to keep their dominant frequency components unchanged in the frequency domain. To verify the validity of the suggested method, the test of the dominant frequency separation is made. Firstly, in frequency domain, the separation of the mixed signal of two signals is made by applying this method and the separated result is satisfactory. Secondly, the test of single sound source localization and that of two simultaneous sound sources localization are performed respectively under our test condition. The experimental results show that the proposed method is able to provide a valid estimation of sound source directions and offer less computational complexity.

关键词： Frequency domain analysis Acoustic testing Computational complexity Microphones Frequency estimation Performance evaluation Sun Laboratories Robots Fast Fourier transforms

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