In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each...In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.展开更多
A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.According to a homogeneous coordi...A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.According to a homogeneous coordinate transformation matrix,gravity stability and its obstacle performance are analyzed.Its gravity equation and climbing obstacle conditions are established.Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanisms and achieve a good obstacle climbing capability.展开更多
The doping effect of rare earth elements (Tb and Sm) on the electronic structure of (110) martensitic twin boundary in Ni2MnGa alloys was investigated by using ab initio method within the DFT and the supercell impleme...The doping effect of rare earth elements (Tb and Sm) on the electronic structure of (110) martensitic twin boundary in Ni2MnGa alloys was investigated by using ab initio method within the DFT and the supercell implementation. The calculated results show that the atomic relaxation lowers the boundary energy and the segregation energy. Sm seems easier to segregate to the boundary and has a greater doping effect compared with Tb due to its lower segregation energy and bigger bonder order with neighboring atoms. Tb makes a greater contribution to the magnetic properties of the twin boundary than Sm.展开更多
A trajectory tracking method is presented for the visual navigation of the monocular mobile robot.The robot move along line trajectory drawn beforehand,recognized and stop on the stop-sign to finish special task.The r...A trajectory tracking method is presented for the visual navigation of the monocular mobile robot.The robot move along line trajectory drawn beforehand,recognized and stop on the stop-sign to finish special task.The robot uses a forward looking colorful digital camera to capture information in front of the robot,and by the use of HSI model partition the trajectory and the stop-sign out.Then the "sampling estimate" method was used to calculate the navigation parameters.The stop-sign is easily recognized and can identify 256 different signs.Tests indicate that the method can fit large-scale intensity of brightness and has more robustness and better real-time character.展开更多
Near infrared (NIR) hyperspectral imaging measurement of sugar content in peach was introduced. NIR spectral images (650～1 000 nm, resolution: 2 nm) of peach samples were captured with developed hyperspectral imaging...Near infrared (NIR) hyperspectral imaging measurement of sugar content in peach was introduced. NIR spectral images (650～1 000 nm, resolution: 2 nm) of peach samples were captured with developed hyperspectral imaging setup. Partial least square (PLS) regression prediction model was developed to estimate the sugar content in peach; step-wise backward method was utilized to determine optimal wavelength subsets. Experimental results show that the calibration model with optimal wavelength subsets has a correlation coefficient of prediction of 0.97 and a standard error of prediction of 0.19, the prediction accuracy is higher than the calibration model applied over the whole wavelength, which proves that variable selection plays an important role in improving the prediction accuracy of PLS regression model.展开更多
A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC m...A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.展开更多
A method for road boundary detection and tracking using laser ladar with respect to a vehicle's local coordinates is proposed.It can be applied to different types of road conditions,such as roads with or without c...A method for road boundary detection and tracking using laser ladar with respect to a vehicle's local coordinates is proposed.It can be applied to different types of road conditions,such as roads with or without curbs,having relatively rough road surface and with obstacles on road surface.In the method,some line segments are extracted after a series of preprocessing on range data.The extracted line segments are combined and further selected.They are then united to match the road models and generate the road boundary points which are tracked by Kalman filter.Then the obtained road boundary points are transformed to build a precise vector map by least squares fitting algorithm.These fitted line segments represent road boundary vectors.The vector map is precise enough to provide ample road information such as the orientation of road,the road width and the passable road region.Finally,extensive experiments conducted in urban and semi-urban environment demonstrate the robustness,effectiveness and viability of the proposed method.展开更多
Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the ...Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.展开更多
The bonding process of space solar cells is a very complicated task undertaken by manual labor before.An automatic approach based on robot technology is presented to deal with the difficult problem.The architecture of...The bonding process of space solar cells is a very complicated task undertaken by manual labor before.An automatic approach based on robot technology is presented to deal with the difficult problem.The architecture of the bonding robot for space solar cells is described.The two processes carried out by the robot,adhesive dispensing and cover-glass bonding,are studied.Based on the mechanical model,the flow velocity field of the adhesive in needles is obtained and the cover-glass bonding theory is interpreted.According to the studies,the thickness of the adhesive can be controlled accurately by robot and bubbles can be avoided coming about inside the adhesive.展开更多
This paper introduces the architecture and implementation of an industrial robot control system,which is based on a singleprocessor structure,can run on general industrial computers.Owing to using Windows NT's rea...This paper introduces the architecture and implementation of an industrial robot control system,which is based on a singleprocessor structure,can run on general industrial computers.Owing to using Windows NT's real-time time performance and friendly user interface in one generalpurpose operating system.A three layer hierarchical system more scalable and flexible.Furthermore a communication and configuration system is implemented to make the control system scalable and flexible.展开更多
A motion planning strategy for the assembly task of inserting a dissymmetrical T-shaped part into a C-shaped slot is presented. The coarse motion planning strategy is expounded by geometric reasoning. A medial axis di...A motion planning strategy for the assembly task of inserting a dissymmetrical T-shaped part into a C-shaped slot is presented. The coarse motion planning strategy is expounded by geometric reasoning. A medial axis diagram decreases the unnecessary configuration states and optimizes the planning strategy. Due to the uncertainties, force sensing and force control is indispensable for motion planning. Combining the coarse motion planning strategy with fine motion planning strategy, the task of assembling a dissymmetrical T-shaped part can be completed successfully.展开更多
To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has differe...To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.展开更多
We investigated the vibration of a cleaning robot for hotline insulators, providing a flexible elevating link with a rigid moving link at the end. A Lagrange dynamic model is established based on the assumed mode meth...We investigated the vibration of a cleaning robot for hotline insulators, providing a flexible elevating link with a rigid moving link at the end. A Lagrange dynamic model is established based on the assumed mode method. An approach is proposed to reduce residual vibration of the flexible elevating link by optimizing acceleration of rigid link using the Pontryagin maximum principle (PMP). A numerical solution to the proposed optimization problem including a two-point boundary-value problem (2PBVP) is developed. Residual vibration of the flexible elevating link of the optimal acceleration profile is compared with that of the optimal trapezoid velocity profile. The result shows that the proposed trajectory optimization method can reduce the residual vibration more effectively.展开更多
The 3D object visual tracking problem is studied for the robot vision system of the 220kV/330kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D ...The 3D object visual tracking problem is studied for the robot vision system of the 220kV/330kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D objects visual tracking is achieved in three stages: the first frame stage,tracking stage,and recovering stage. An SESIF based objects recognition algorithm is proposed to find initial location at both the first frame stage and recovering stage. An SESIF and Lie group based visual tracking algorithm is used to track 3D object. Experiments verify the algorithm's robustness. This algorithm will be used in the second generation of the 220kV/330kV high-voltage live-line insulator cleaning robot.展开更多
In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward’s compensation method. ...In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward’s compensation method. Estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and an enhanced tracking performance is verified on a selectively compliant articulated robot arm(SCARA) robot.展开更多
This paper describes a new force controlled micro-drive end effector and its driving sys-tem,which can realize delicate adjustment according to the information from a force sensor,so as to enhance the effective positi...This paper describes a new force controlled micro-drive end effector and its driving sys-tem,which can realize delicate adjustment according to the information from a force sensor,so as to enhance the effective positioning accuracy of a robot.The active adjustment is actu-ated by a two-dimensional planar linear step motor which can move along X-and Y-axes inthe range from-5mm to +5mm with the resolutions of 0.48μm,1.95μm,7.8μm,and 15.6μm,respectively.The paper presents the modified mechanical structure,the high divisionnumber driving system,the independent force feedback control system,and the macro/micromanipulator system.The theoretical study proves the high dynamic stability of the macro/micro manipulator system.At last,the experimental results of using the system to finish thepeg-in-hole assembly are given.展开更多
In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walki...In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.展开更多
A novel hyper-redundant manipulator named RT1 is designed and studied.The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints.The mech...A novel hyper-redundant manipulator named RT1 is designed and studied.The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints.The mechanisms of RT1 are introduced in detail.Some experiments are carried out in order to test the movability and adaptability of the manipulator.RT1 is actuated by pulse string and acts discretely.The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also.The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position.An[1] optimization example is given that is realized with Matlab optimize tool-box.展开更多
基金Project (No. 50305021) supported by the National Natural ScienceFoundation of China
文摘In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.
基金Supported by the National Natural Science Foundation of China(No.61175069,51075272,51475300)
文摘A novel wheel-track hybrid mobile robot with many movement patterns is designed.According to different environments,it can switch between the pure wheel pattern and the pure track one.According to a homogeneous coordinate transformation matrix,gravity stability and its obstacle performance are analyzed.Its gravity equation and climbing obstacle conditions are established.Experimental results show that this hybrid mobile robot could fully possess the advantages of both the wheel and the track mechanisms and achieve a good obstacle climbing capability.
基金Project supported by the National Natural Science Foundation of China (50301011, 50571066) and this grant is gratefully acknowledged
文摘The doping effect of rare earth elements (Tb and Sm) on the electronic structure of (110) martensitic twin boundary in Ni2MnGa alloys was investigated by using ab initio method within the DFT and the supercell implementation. The calculated results show that the atomic relaxation lowers the boundary energy and the segregation energy. Sm seems easier to segregate to the boundary and has a greater doping effect compared with Tb due to its lower segregation energy and bigger bonder order with neighboring atoms. Tb makes a greater contribution to the magnetic properties of the twin boundary than Sm.
基金supported by a grant from the National High Technology Research and Development Program of China (863 Program)(No.2002AA420110-3)the key project of the State Grid Corporation of China (SGKJ[2007]159)
文摘A trajectory tracking method is presented for the visual navigation of the monocular mobile robot.The robot move along line trajectory drawn beforehand,recognized and stop on the stop-sign to finish special task.The robot uses a forward looking colorful digital camera to capture information in front of the robot,and by the use of HSI model partition the trajectory and the stop-sign out.Then the "sampling estimate" method was used to calculate the navigation parameters.The stop-sign is easily recognized and can identify 256 different signs.Tests indicate that the method can fit large-scale intensity of brightness and has more robustness and better real-time character.
文摘Near infrared (NIR) hyperspectral imaging measurement of sugar content in peach was introduced. NIR spectral images (650～1 000 nm, resolution: 2 nm) of peach samples were captured with developed hyperspectral imaging setup. Partial least square (PLS) regression prediction model was developed to estimate the sugar content in peach; step-wise backward method was utilized to determine optimal wavelength subsets. Experimental results show that the calibration model with optimal wavelength subsets has a correlation coefficient of prediction of 0.97 and a standard error of prediction of 0.19, the prediction accuracy is higher than the calibration model applied over the whole wavelength, which proves that variable selection plays an important role in improving the prediction accuracy of PLS regression model.
基金Supported by the National 863 Scheme of China No.863-512-03-02
文摘A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brnshless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.
基金Supported by the National Natural Science Foundation of China (61174178)
文摘A method for road boundary detection and tracking using laser ladar with respect to a vehicle's local coordinates is proposed.It can be applied to different types of road conditions,such as roads with or without curbs,having relatively rough road surface and with obstacles on road surface.In the method,some line segments are extracted after a series of preprocessing on range data.The extracted line segments are combined and further selected.They are then united to match the road models and generate the road boundary points which are tracked by Kalman filter.Then the obtained road boundary points are transformed to build a precise vector map by least squares fitting algorithm.These fitted line segments represent road boundary vectors.The vector map is precise enough to provide ample road information such as the orientation of road,the road width and the passable road region.Finally,extensive experiments conducted in urban and semi-urban environment demonstrate the robustness,effectiveness and viability of the proposed method.
基金This work is Supported by the National Science Foundation under Grant 863 -512 -9820-04.
文摘Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.
文摘The bonding process of space solar cells is a very complicated task undertaken by manual labor before.An automatic approach based on robot technology is presented to deal with the difficult problem.The architecture of the bonding robot for space solar cells is described.The two processes carried out by the robot,adhesive dispensing and cover-glass bonding,are studied.Based on the mechanical model,the flow velocity field of the adhesive in needles is obtained and the cover-glass bonding theory is interpreted.According to the studies,the thickness of the adhesive can be controlled accurately by robot and bubbles can be avoided coming about inside the adhesive.
基金Supported by National Natural Science foundation of China (No. 69975014)
文摘This paper introduces the architecture and implementation of an industrial robot control system,which is based on a singleprocessor structure,can run on general industrial computers.Owing to using Windows NT's real-time time performance and friendly user interface in one generalpurpose operating system.A three layer hierarchical system more scalable and flexible.Furthermore a communication and configuration system is implemented to make the control system scalable and flexible.
文摘A motion planning strategy for the assembly task of inserting a dissymmetrical T-shaped part into a C-shaped slot is presented. The coarse motion planning strategy is expounded by geometric reasoning. A medial axis diagram decreases the unnecessary configuration states and optimizes the planning strategy. Due to the uncertainties, force sensing and force control is indispensable for motion planning. Combining the coarse motion planning strategy with fine motion planning strategy, the task of assembling a dissymmetrical T-shaped part can be completed successfully.
文摘To acquire human operation skill based on force sense, element contact form (ECF) is proposed to describe contact condition firstly. The skill is modeled as a sequence of discrete ECFs. Since different ECF has different force distribution, a support vector machine classifier is built to identify the contact conditions according to the force signal. Finally, the robot can obtain the skill from the human demonstration.
文摘We investigated the vibration of a cleaning robot for hotline insulators, providing a flexible elevating link with a rigid moving link at the end. A Lagrange dynamic model is established based on the assumed mode method. An approach is proposed to reduce residual vibration of the flexible elevating link by optimizing acceleration of rigid link using the Pontryagin maximum principle (PMP). A numerical solution to the proposed optimization problem including a two-point boundary-value problem (2PBVP) is developed. Residual vibration of the flexible elevating link of the optimal acceleration profile is compared with that of the optimal trapezoid velocity profile. The result shows that the proposed trajectory optimization method can reduce the residual vibration more effectively.
基金National High Technology Research and Development Programof China (863program,No.2002AA42D110-2)
文摘The 3D object visual tracking problem is studied for the robot vision system of the 220kV/330kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D objects visual tracking is achieved in three stages: the first frame stage,tracking stage,and recovering stage. An SESIF based objects recognition algorithm is proposed to find initial location at both the first frame stage and recovering stage. An SESIF and Lie group based visual tracking algorithm is used to track 3D object. Experiments verify the algorithm's robustness. This algorithm will be used in the second generation of the 220kV/330kV high-voltage live-line insulator cleaning robot.
文摘In order to alleviate the steady-state position error and the destabilizing effect of the nonlinear friction, a novel compensation method is presented, which modified the traditional Southward’s compensation method. Estimated the nonlinear friction model using an identification method, the effect caused by its nonlinear component can be compensated, and an enhanced tracking performance is verified on a selectively compliant articulated robot arm(SCARA) robot.
基金Supported by the High Technology Research and Development Programme of China.
文摘This paper describes a new force controlled micro-drive end effector and its driving sys-tem,which can realize delicate adjustment according to the information from a force sensor,so as to enhance the effective positioning accuracy of a robot.The active adjustment is actu-ated by a two-dimensional planar linear step motor which can move along X-and Y-axes inthe range from-5mm to +5mm with the resolutions of 0.48μm,1.95μm,7.8μm,and 15.6μm,respectively.The paper presents the modified mechanical structure,the high divisionnumber driving system,the independent force feedback control system,and the macro/micromanipulator system.The theoretical study proves the high dynamic stability of the macro/micro manipulator system.At last,the experimental results of using the system to finish thepeg-in-hole assembly are given.
基金The National Natural Science Foundation of China(No.60575049)
文摘In this paper,three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot.The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced.Several gaits are realized with the kinematics solution,including walking straight on level floor,going up stair,squatting down and standing up.Zero Moment Point(ZMP)equation is analyzed considering the movement of the crew.The simulated biped walking-chair robot is used for mechanical design,gaits development and validation before they are tested on real robot.
文摘A novel hyper-redundant manipulator named RT1 is designed and studied.The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints.The mechanisms of RT1 are introduced in detail.Some experiments are carried out in order to test the movability and adaptability of the manipulator.RT1 is actuated by pulse string and acts discretely.The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also.The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position.An[1] optimization example is given that is realized with Matlab optimize tool-box.
