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Autonomous control of multi-fingered hand

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Progress in Natural Science:Materials International 2006年第5期16卷 531-537页

作者： JIANG Li and LIU Hong (Robotics research institute, {2., harbin 150001, china) [a]Robotics research Institue Harbin Institute of Technology Harbin China

This paper describes a novel autonomous control strategy of multi- fingered hand based on a modular control system of dexterous manipulation. A simple proportional-integral-derivative(PID) position control with friction compensation, which requires few friction parameters, is used to realize accurate and smooth trajectory tracking in pregrasp phase. In grasp and manipulation phases, an event-driven switcher is adopted to determine the switching between unconstrained position control and constrained torque control, and an improved explicit integral force control strategy is implemented to realize simultaneously stable contact transition and accurate force tracking. Experimental results have verified the effectiveness of the proposed autonomous control strategy of multi-fingered hand.

关键词： multi-fingered hand autonomous control position control impact control.

research ON THE MINIMUM ZONE CYLINDRICITY EVALUATION BASED ON GENETIC ALGORITHMS

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Chinese Journal of Mechanical Engineering 2003年第2期16卷 167-170页

作者： Cui ChangcaiChe RenshengYe DongHuang QingchengDepartment of Automatic Measurement and control,harbin institute of technology, {2., china Department of Automatic Measurement and control Harbin Institute of Technology Harbin 150001 China

A genetic algorithm (GA)-based method is proposed to solve the nonlinearoptimization problem of minimum zone cylindricity evaluation. First, the background of the problemis introduced. Then the mathematical model and the fitness function are derived from themathematical definition of dimensioning and tolerancing principles. Thirdly with the least squaressolution as the initial values, the whole implementation process of the algorithm is realized inwhich some key techniques, for example, variables representing, population initializing and suchbasic operations as selection, crossover and mutation, are discussed in detail. Finally, examplesare quoted to verify the proposed algorithm. The computation results indicate that the GA-basedoptimization method performs well on cylindricity evaluation. The outstanding advantages concludehigh accuracy, high efficiency and capabilities of solving complicated nonlinear and large spaceproblems.

关键词： genetic algorithm (GA) cylindricity form error minimum zone

A Novel Stable Clustering Design Method for Hierarchical Satellite Network

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Chinese Journal of Aeronautics 2010年第1期23卷 91-102页

作者： Zhou Mu,Guo Qing,Wang Zhenyong Communication research Center,School of Electronics and Information Engineering,harbin institute of technology,{2.,china [a] Communication research Center School of Electronics Information Engineering Harbin Institute of Technology Harbin 150001 China

This article proposes a novel stable clustering design method for hierarchical satellite network in order to increase its stability,reduce the overhead of storage and exert effective control of the delay performances based on a 5-dimensional vector model. According to the function of stability measureinent and owing to the limitation of minimal average routing table length, the hierarchical satellite network is grouped into separate stable connected clusters to improve destruction resistance and reconstruction ability in the future integrated network. In each cluster, redundant communication links with little contribution to network stability and slight influences on delay variation are deleted to satisfy the requirements for stability and connectivity by means of optimal link resources, and, also, the idea of logical weight is introduced to select the optimal satellites used to communicate with neighboring cluster satellites. Finally, the feasibility and effectiveness of the proposed method are verified by comparing it with the simulated performances of other two typical hierarchical satellite networks, double layer satellite constellation（DLSC） and satellite over satellite（SOS）.

关键词： satellite network hierarchical structure stability analysis clustering algorithms vector measurements

Monocular vision-based iterative pose estimation algorithm from corresponding feature points

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Science china(Information Sciences) 2010年第8期53卷 1682-1696页

作者： ZHANG ShiJie 1 , CAO XiBin 1 , ZHANG Fan 1 & HE Liang 2.1 research Center of Satellite technology, {2., harbin 150080, china 2.Shanghai Aerospace control Engineering institute, Shanghai 2.02.3, china 1. research Center of Satellite technology Harbin Institute of Technology Harbin 150080 China2. Shanghai Aerospace Control Engineering Institute Shanghai 200233 China

To determine the relative pose between an object and a single camera using 2.-to-3D point correspondences, a kind of iterative methods based on inverse projection ray approach is proposed. An iterative algorithm which is divided into depth recovery stage and absolute orientation stage is also proposed. In the first stage, the optimal translation vector is first computed in terms of rotation matrix via least square method, then the depths of the observed points are estimated by projecting the estimated point orthogonally to the inverse projection ray defined by the image point, and finally 3D points are reconstructed using the estimated depths from previous step. In the second stage, the optimal rotation matrix is estimated by applying Umeyama algorithm to fitting of the 3D model points and 3D estimated points. The above two stages are repeated until the result converges. The global convergence of the two-stage iterative algorithm is proven based on the global convergence theorem. Finally, a spacecraft docking application is implemented to test the effectiveness and convergence of the proposed algorithm by mathematical simulation and physical simulation.

关键词： monocular vision feature point relative pose two-stage iterative algorithm global convergence

Wrinkle-crease interaction behavior simulation of a rectangular membrane under shearing

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Acta Mechanica Sinica 2011年第4期27卷 550-558页

作者： C.-G.Wang.H.-F.Tan.X.-D.He Center for Composite Materials,harbin institute of technology,150080 harbin,{2. Post-doctoral research Center in Material Science and Engineering,harbin institute of technology,150001 harbin,{2. Center for Composite Materials Harbin Institute of Technology Harbin China Post-doctoral research Center in Material Science and Engineering Harbin Institute of Technology Harbin China

Wrinkling analysis of a rectangular membrane with a single crease under shearing is performed to understand the wrinkle-crease interaction behaviors. The crease is considered by introducing the residual stresses from creasing and the effective modulus into the baseline configuration with assumed circular cross-sectional crease geometry. The wrinkling analysis of the creased membrane is then performed by using the direct perturb-force （DP） simulation technique which is based on our modified displacement components （MDC） method. Results reveal that the crease may influence the stress transfer path in the membrane and further change the wrinkling direction. The crease appears to improve the bending stiffness of the membrane which has an effective resistance on the wrinkling evolution. The effects of the crease orientation on wrinkle-crease interaction are studied toward the end of this paper. The results show that the wrinkling amplitude, wavelength, and direction increase as the crease orientation increases, and the wrinkling number decreases with the increasing crease orientation. These results will be of great benefit to the analysis and the control of the wrinkles in the membrane structures.

关键词： Membrane structure - Wrinkle-crease interac-tion Membrane wrinkling Creased membrane

Study on the Class-Based Admission control Scheme for DiffServ in MPLS Networks

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Journal of Systems Engineering and Electronics 2003年第3期14卷 40-44页

作者： Li Zhenyu , Zhang Zhongzhao Communication research Center, harbin institute of technology, {2., P. R. china Communication research Center Harbin Institute of Technology Harbin 150001 P. R. China

Differentiated services (DiffServ) and MPLS are two major building blocks for providing multi-class services over IP networks. In order to respond to the need for relatively simple, coarse methods of providing different levels of service for Internet traffic, to support various types of applications and specific business requirements, the MPLS network infrastructure and the DiffServ traffic model will work together. Meanwhile, in today’s environment of multiple service networks, it is necessary for the node in the networks to perform the control mechanism to guarantee various QoS. In

关键词： MPLS DiffServ Admission control.

Experimental Study of Monitoring and controlling of Composite Cure Process in Autoclave Featured with Fiber Optic Sensor

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Journal of Materials Science & technology 2001年第4期17卷 449-452页

作者： Boming ZHANG, Zhanjun WU , Dianfu WANG and Shanyi DU Center for composite, harbin institute of technology harbin 150001, {2. harbin Inst Technol Ctr Composite Harbin 150001 Peoples R China

With the aid of the latest fiber optic sensing technology parameters in the cure process of ther- mosetting resin-matrix composite, such as temperature, viscosity,void and residual stress, can be monitored entirely and *** this paper, experiment results of viscosity measurement in composite cure process in autoclave using fiber optic sensors are presented. Based on the sensed information, a computer program is utilized to control the cure process. With this technology, the cure process becomes more apparent and controllable, which will greatly improve the cured products and reduce the cost.

关键词： Experimental Study of Monitoring and controlling of Composite Cure Process in Autoclave Featured with Fiber Optic Sensor

Kalman filtering for time-delayed linear systems

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Science in china(Series F) 2006年第4期49卷 461-470页

作者： LU Xiao1,2.& WANG Wei1 1. research Center of Information and control, Dalian University of {2., Dalian 11602., china 2. Shenzhen Graduate School, harbin institute of technology, Shenzhen 518055, china 1. research Center of Information and control Dalian University of Technology Dalian 116024 China 2. Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China

This paper is to study the linear minimum variance estimation for discretetime systems. A simple approach to the problem is presented by developing re-organized innovation analysis for the systems with instantaneous and double time-delayed measurements. It is shown that the derived estimator involves solving three different standard Kalman filtering with the same dimension as the original system. The obtained results form the basis for solving some complicated problems such as H, fixed-lag smoothing, preview control, H, filtering and control with time delays.

关键词： discrete-time systems delayed measurements innovation analysis Riccati equations.

An improved nonlinear control strategy for deep space formation flying spacecraft

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Acta Mechanica Sinica 2009年第6期25卷 847-856页

作者： Peng Li Pingyuan Cui Hutao Cui Deep Space Exploration research Center,harbin institute of technology, 150080 {2., china Deep Space Exploration research Center Harbin Institute of Technology 150080 Harbin China

This paper aims to provide further study on the nonlinear modeling and controller design of formation flying spacecraft in deep space missions. First, in the Sun-Earth system, the nonlinear formation dynamics for the circular restricted three-body problem （CRTBP） and elliptic restricted three-body problem （ERTBP） are presented. Then, with the Floquet mode method, an impulsive controller is developed to keep the Chief on the desired Halo orbit. Finally, a nonlinear adaptive control scheme based on Nonzero set- point LQR and neural network is proposed to achieve high precision formation maneuver and keeping. The simulation results indicate that the proposed nonlinear control strategy is reasonable as it considers not only the orbit keeping of the Chief, but also the formation modeling inaccuracy. Moreover, the nonlinear adaptive control scheme is effective to improve the control accuracy of the formation keeping.

关键词： Spacecraft formation flying. Libration pointHalo orbit - Nonlinear control