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Interactive rehabilitation exercise control strategy for 5-DOF upper limb rehabilitation arm

Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering 2008年第9期44卷 169-176页

作者： Li, Qingling Kong, Minxiu Du, Zhijiang Sun, Lining Wang, Dongyan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China The Second Affiliated Hospital Heilongjiang University of Chinese Medicine Harbin 150040 China

A 5-DOF exoskeletal rehabilitation arm for hemiplegic upper limbs is developed with passive and active interactive exercise control strategy. In passive exercise, surface electromyogram (sEMG) of hemiplegic patients' healthy limbs are extracted to control the arm because they are impaired unilaterally in general. AR model and BP neural network are used to understand the patient's motion intention in order to actuate the arm. Then, it can assist disabled arm to implement preprogrammed motions. In active exercise, the torque of each joint is used to estimate the force caused by limbs' movement in real-time. Terminal velocity is controlled with proportional controller and Jacobian inverse matrix to drive each joint. Test results prove the correctness and effectiveness of the proposed method.

关键词： Neural networks

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A silicon integrated micro positioning xy-stage for nano-manipulation

Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors

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Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors 2008年第10期29卷 1932-1938页

作者： Wang, Jiachou Rong, Weibin Sun, Lining Li, Xinxin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 200050 China

An integrated micro positioning xy-stage with a 2 mm × 2 mm-area shuttle is fabricated for application in nanometer-scale operation and nanometric positioning precision. It is mainly composed of a silicon-based xy-stage, electrostatics comb actuator, and a displacement sensor based on a vertical sidewall surface piezoresistor. They are all in a monolithic chip and developed using double-sided bulk-micromachining technology. The high-aspect-ratio comb-driven xy-stage is achieved by deep reactive ion etching (DRIE) in both sides of the wafer. The detecting piezoresistor is located at the vertical sidewall surface of the detecting beam to improve the sensitivity and displacement resolution of the piezoresistive sensors using the DRIE technology combined with the ion implantation technology. The experimental results verify the integrated micro positioning xy-stage design including the micro xy-stage, electrostatics comb actuator, and the vertical side-wall surface piezoresistor technique. The sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV/μm without amplification and the linearity is better than 0.814%. Under 30V driving voltage, a ±10m single-axis displacement is measured without crosstalk and the resonant frequency is measured at 983Hz in air.

关键词： Electrostatics

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Energy harvesting with piezoelectric cantilever

Energy harvesting with piezoelectric cantilever

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IEEE Symposium (IUS) Ultrasonics

作者： Jiang-bo Yuan Tao Xie Wei-shan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Energy harvesting with the piezoelectric cantilever was studied under vibration environment. A theoretical model of piezoelectric cantilever was developed to determine the magnitude of power. The results predicted by the theoretical model were validated by the experimental data. Compared with the rectangular layer piezoelectric cantilever, the trapezoidal piezoelectric cantilever generated higher power with the same force and the volume of PZT. A maximal output power of about 24.2 mW can be obtained from the trapezoidal piezoelectric cantilever at the operating frequency of 130 Hz across a resistive load of 80kOmega with a cyclic stress of 1N.

关键词： Power generation Batteries Vibrations Power system modeling Stress Wireless sensor networks Capacitive sensors Voltage Equations Robots

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Research on a New Composite Ultrasonic Energy Transmission Mechanism with Parallel Structure

Research on a New Composite Ultrasonic Energy Transmission M...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Yanjie Liu Lemin Zhang Dongcui Wang Yuetao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A composite two-dimension ultrasonic vibration system with parallel structure is presented in this paper for the wire bonding application. Compared with other conventional structures, this one uses the structure of the clamping beam, weakening the horizontal deflection stiffness, instead of the clamping ring, which weakens the coupling effects existing in most parallel structures. By means of the self-locking wedge, the piezoelectric ceramics are effectively preload. The length of the horn is optimized according to the relationship between the magnification ratio and the ratio of the horn length. Through the vibration characteristic analysis and FEA verification, it is proved that this parallel structure can increase the composite output amplitude of the ultrasonic horn and the density of ultrasonic energy, and can complete the bonding at a larger area range so that it will shorten the bonding time and improve the bonding efficiency.

关键词： Bonding Vibrations Welding Laboratories Clamps Robots Wire Frequency Flanges Optical coupling

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Whole process reclamation and utilization of wastes produced in the biological fermentation industry

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Journal of harbin institute of technology(New Series) 2008年第5期15卷 732-735页

作者：阎灵均李大鹏马放张建祺徐善文邱珊 State Key Laboratory of Urban Water Resources and Environment Harbin Institute of Technology School of Municipal and Environmental Engineering Harbin Institute of Technology Dept.of Civil and Environmental Engineering University of MarylandBaltimore County

Wastes yielded in the vintage process and the biological fermentation of itaconic acid and sodium gluconate of a winery in Shandong, such as grain stillage, melon lees, cornstarch protein residues, itacanic acid mother liquid, itaconic acid mycelium and sodium gluconate mycelium, were studied. High-activity biological protein feed, foliar fertilizer and irrigation fertilizer were generated from these wastes by applying biological/microbial technologies. Meanwhile, a whole set of technological pathways was put forward. As a result, the optimal economical and social benefits can be obtained with low natural resource consumption and environmental costs by converting wastes into useful matters. In conclusion, through the utilization of limited resources in the whole process of reclamation and utilization of wastes, the harmony promotion can be achieved between the economic system and the natural ecosystem.

关键词： biological fermentation industry wastes whole process reclamation and utilization biological technology

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Design and analysis of a cylindrical ultrasonic motor using bending transducer

Design and analysis of a cylindrical ultrasonic motor using ...

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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Wei-shan Chen Ying-xiang Liu Jun-kao Liu Sheng-jun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A cylindrical ultrasonic motor using bending transducer was proposed in this paper. The stator components of proposed motor contain a cylinder and four bending transducers, and the four uniform bending transducers are set on the exterior surface of cylinder. The bending of transducers is excited by the longitudinal vibration of PZT ceramics. The four transducers are excited with two different groups of signal, and two bending vibrations are generated on the cylinder. When the amplitude of two bending vibrations is equal, and their phase difference on time and space is pi/2, a traveling wave is formed on the cylinder. Thus, an elliptical motion is achieved at the particle on the tooth. And the frictional force between rotor and stator is the driving force to realize the rotation motion of rotor. The PZT ceramics work with d33 mode, which have high electromechanical coupling efficiency and could improve the output characteristics. The working principle of proposed motor was analyzed. The cylinder and transducers were designed with FEM. The sensitive parameters of resonance frequency of transducer and cylinder were gained with modal analysis. The bending resonance frequency of transducers and cylinder were degenerated, and the motion trajectories of nodes on the teeth were analyzed. The result of transient analysis shows that the trajectory of node on the tooth is nearly an ellipse. The results of this paper could be useful in the development of this new type of motor.

关键词： Ultrasonic transducers Engine cylinders Teeth Stators Ceramics Rotors Resonance Resonant frequency Signal generators Space exploration

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Design of a six legged wall-climbing robot

Design of a six legged wall-climbing robot

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Wei Guo Ming Zhong Man-tian Li Yang Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

A new type of six legged wall-climbing robot with modular joints for the anti-terrorist field is proposed in this paper. It can move quickly and quietly with help of passive joints on its ankle and a silent vacuum generator. Design of the mobile system is first described. Then the analyses of the torque on each joint and the structure design of them, as well as the vacuum producer are presented in detail. Finally, the kinematics model of robot is also established.

关键词： Robots Joints Legged locomotion Robot sensing systems Vacuum systems Mobile communication Climbing robots

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Research on the Reconfigurable Image Processing system

Research on the Reconfigurable Image Processing System

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International Symposium on Intelligent Information technology Application, IITA

作者： Chang-le Li Ji-zhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In view of problems of the processing performance and system flexibility for the current image processing system, propose an image processing system using reconfigurable technology. Studying on the theory of dynamic reconfigurable technology and the feature of reconfigurable system, analyzing the existent problem at present in the image processing system, making the use feature of multi-reconfiguration for FPGA (field programmable gate array), design the reconfigurable image processing system. On the basis of research on the distribute algorithm and the theory of the reconfigurable algorithm, complete the image processing algorithm which can be time-sharing reconfiguration. Implement the LoG (Laplacian of Gaussian) operator and Sobel operator in FPGA, and verify the feasibility and flexibility of system design.

关键词： Image processing Field programmable gate arrays Control systems Reconfigurable logic Image reconstruction Intelligent robots Logic programming Information technology Laboratories Image analysis

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Design of Comprehensive High-fidelity/High-speed Virtual Simulation system for Lunar Rover

Design of Comprehensive High-fidelity/High-speed Virtual Sim...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Liang Ding Haibo Gao Zongquan Deng Peilin Song Rongqiang Liu RCAMC State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Virtual simulation is of great importance for both the research and development phase and the tele-operation phase of a lunar rover. The role and state-of-the-art of rover's simulation is introduced in the beginning. Comprehensive high-fidelity/high-speed virtual simulation system for lunar rover is designed in accordance with the developing trend. key technologies such as terramechanics and recursive dynamics are discussed and related work that have been done in RCMAC of harbin institute of technology are presented. The system can be switched between high-fidelity simulation and high-speed precision simulation to be used in both phases of a lunar rover.

关键词： Moon Mars Research and development Vehicle dynamics Aerodynamics Analytical models Laboratories Robots Kinematics Predictive models

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Tanbot: A mobile self-reconfigurable robot enhanced with embedded positioning module

Tanbot: A mobile self-reconfigurable robot enhanced with emb...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Ming Zhong Wei Guo Man-tian Li Ji-an Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

This paper proposes a novel mobile self-reconfigurable robot called Tanbot consisting of several mobile modules. Single module is capable of simple self-reconfiguration by expanding itself. Several modules can dock together one by one to be a whole robot via sensors and cameras. An embedded navigation module is designed to enhance the position accuracy of Tanbot, and to improve the docking efficiency.

关键词： Robots Robot kinematics Cameras Tracking Strontium Sensors Shape

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