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Discrete wavelet transform-based fault diagnosis for driving system of pipeline detection robot arm

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High Technology Letters 2005年第4期11卷 397-400页

作者：邓辉宇 Wang Xinli Ma peisun Roboties Institute Shanghai Jiaotong University Shanghai 200030 P.R. China Department of Electrical Engineering Harbin Institute of Technology Harbin 150001 P.R. China

A real-time wavelet multi-resolution analysis (MRA)-based fault detection algorithm is proposed. The first stage detailed MRA signals extracted from the original signals were used as the criteria for fault detection. By measuring sharp variations in the detailed MRA signals, faults in the motor driving system of pipeline detection robot arm could be detected. The fault type was then identified by comparison of the three-phase MRA sharp variations. The effects of the faults were examined. The simulation results show that this algorithm is effective and robust, it is promising for fault detection in a robot's joint driving system. The method is simple, rapid and it can operate in real time.

关键词： driving system multi-resolution analysis fault diagnosis

Microbionic and peristaltic robots in a pipe

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Chinese Science Bulletin 2000年第11期45卷 985-988页

作者： MA Jianxu LIU Xiang MA Jianhua LI Mingdong MA peisun School of Mechanical Engineering Shanghai Jiaotong University.Shanghai 200030China Pericom Technology Co.Ltd. Shanghai 200233China Pingquan Normal College Pingquan 067500China

A microbionic and peristaltic robot that simulates the motion of an earthworm to move within a micropipe is proposed. The robot consists of three flexible units. Each unit is composed of two plates connected with three shape memory alloys (SMA) 120° apart, the rubber gasbag around the SMA wires inflated with air inside. Each unit corresponds to a segment of an earthworm, and the SMA and rubber gasbag have the same functions as the cricoid and longitudinal muscles of the earthworm. A control system is designed to fulfill the control of the three flexible units motions, such as stretching, shrinking and bending, so the microrobot can walk forward and backward, and choose the direction.

关键词： microrobot simulating earthworm soft pipe.

RESEARCH OF KINEMATIC CHARAC－TERISTICS FOR QUADRUPED WALKING VEHICLE WITH LEGS OF DIFFERENT DISPOSITIONS OF DOFS

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Chinese Journal of Mechanical Engineering 1994年第4期7卷 275-280页

作者： Ma peisun Xu Peijun Xu Xiaofeng (Shanghai Jiaotong University)

Systematic analyses have been made to three typical dispositions of walking vehicle leg,and their kinematic characteristics are obtained respectively. a reliable theoretical guidance for theselection of the form is pr... 详细信息

关键词： Quadruped walking vehicle Leg

STUDY ON THE INCREASE OF SLOPE-WALKING ABILITY OF MULTI－LEGGED ROBOT

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Chinese Journal of Mechanical Engineering 1994年第3期7卷 232-236页

作者： Xu Peijun Shanghai Jiaotong University Zhuang Jide Ma peisun Jilin University of Technology Shanghai Jiaotong University

The stable slope-walking ability of legged robot walking in any direction on slope is analysed. The contacting angle and leaving angle of leg to the ground are presented. A method to increase the slope-walking ability... 详细信息

关键词： Legged robot Stability Slope-walking ability

全方位四足步行机器人JTUWM－Ⅱ转弯步态控制的研究

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上海交通大学学报 1995年第5期29卷 87-92页

作者：马培荪马烈新加坡EXCEL高技术公司

本文以四足步行机器人为研究对象研究了转弯步态控制的实现途径．在分析前人研究的基础上，拟定了适合于实际控制的重心沿多折线行走的转弯步态，并详细讨论了转弯步态过程及其可行性．该步态控制已在所研制的ＪＴＵＷＭ－Ⅱ型全方位四... 详细信息

本文以四足步行机器人为研究对象研究了转弯步态控制的实现途径．在分析前人研究的基础上，拟定了适合于实际控制的重心沿多折线行走的转弯步态，并详细讨论了转弯步态过程及其可行性．该步态控制已在所研制的ＪＴＵＷＭ－Ⅱ型全方位四足机器人上实现．

关键词：步行机器人步态控制转弯步态机器人

Investigation of Performance of Turret Assembly in Inboard Turret Mooring System

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China Ocean Engineering 1991年第4期6卷 409-418页

作者： Ma peisun , Ma Lie and Lu Shunshou Associate Professor, Shanghai Jiaotong University, Shanghai Graduate, Shanghai Jiaotong University, Shanghai Engineer, Shanghai Jiaotong University, Shanghai

To fulfil the need of development of offshore oil floating production system, the performance of turret assembly in an inboard turret mooring system has been investigated in the paper. By means of systematic evaluation, the optimal structure of the turret for single-point mooring systems has been determined. Through model tests of a turret mooring system, several groups of data such as forces, moments and displacements under different environmental conditions have been obtained. Stresses and strains of the turret structure have been calculated by means of the finite element method corresponding to the situation in the model experiment. The study shows that the selected turret structure and the designed turret assembly are technically feasible.

关键词： turret mooring system structure calculations finite element method turret assembly

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油罐容积检测爬壁机器人的动态路径规划

上海交通大学学报 1997年第3期31卷 28-32页

作者：马培荪刘臻上海交通大学机械工程系上海

针对油罐内检测机器人的实际环境——圆柱内表面，提出空间环境下的动态路径规划．应用人工势场法，在圆柱表面建立空间速度－位置相关场，并根据环境信息，对机器人运动进行动态路径规划、控制．计算机仿真结果表明。

关键词：爬壁机器人动态路径规划油罐容积检测

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两足机器人步态综合研究进展

西南交通大学学报 2006年第4期41卷 407-414页

作者：马培荪曹曦赵群飞上海交通大学机器人研究所上海200030 上海交通大学图像处理与模式识别研究所上海200030

把两足机器人步态综合方法分为参考轨迹法和自然动力学法两大技术流派.根据参考轨迹获得方法的不同,参考轨迹法又分为步行数据法、中枢模式发生器法和动力学模型法.自然动力学法也可分为被动动力学法和虚拟模型法.在总结两大流派研究进... 详细信息

把两足机器人步态综合方法分为参考轨迹法和自然动力学法两大技术流派.根据参考轨迹获得方法的不同,参考轨迹法又分为步行数据法、中枢模式发生器法和动力学模型法.自然动力学法也可分为被动动力学法和虚拟模型法.在总结两大流派研究进展的基础上,分析了它们各自的优势和不足,指出了今后工作的重点,即参考轨迹法需要提高步行效率和轨迹的生成速度,而自然动力学法需要增加功能.最后分析了强制学习技术在步态综合中应用的适应性和多自由度造成的组合爆炸问题.

关键词：两足机器人步态强制学习参考轨迹法自然动力学法

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植保机械用射流装置的研究

农业机械学报 1989年第3期20卷 38-43页

作者：万培荪苏州农业药械厂

通过对植保机械用射流装置的试验研究,重点论述了射流装置的结构参数、工作液流和真空度之间的关系,并提出植保机械用射流装置的设计准则。

关键词：植保机具射流装置设计