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Science in China(Series F) 2009年第10期52卷 1848-1862页

作者： ZHANG HeMing cims-ERC Department of Automation TNList Tsinghua University Beijing 100084 China

This paper presents an integrated approach to multidisciplinary collaborative simulation for complex engineering systems. The formulized paradigm of multidisciplinary collaborative simulation for com- plex engineering systems is principally analyzed. An IEEE HLA and web services based framework is proposed to provide a heterogeneous, distributed and collaborative running environment where multidisciplinary modeling, running management and post-processing of collaborative simulation are undertaken. The mechanism of multidisciplinary collaborative modeling, disciplinary model transformation, and time-synchronized simulation advancement are studied in detail. A prototype with the functions of multidisciplinary modeling, running management and post-processing for collaborative simulations is developed, and a typical complex engineering system is chosen as a case study to demonstrate the effectiveness of this new approach towards collaborative simulation.

关键词： multidisciplinary modeling distributed collaborative simulation HLA web services complex engineering system

The Study of SMT Product Manufacturing Grid System

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上海交通大学学报 2007年第S2期41卷 131-138页

作者：李春泉余涛 Dept.of Electronic Machinery and Traffic Eng. Guilin Univ.of Electronic Technology cims center Shanghai Univ.

Surface mount technology product manufacturing grid(SMT-MG) is a typical application which grid technology was applied to SMT product *** this paper,for SMT-MG system,conception and intension of SMT-MG were *** six-layer architecture of SMT-MG was constructed and mesh three-dimensional matrix organization mode of SMT-MG was *** mechanism of SMT-MG was discussed emphatically which include adaptive evolution mechanism,PUSH/PULL driving mechanism,cooperation game mechanism,feedback,regulation and control mechanism,coordination mechanism and impetus *** study of SMT-MG must be useful for developing of electronic product manufacturing.

关键词： surface mount technology(SMT) manufacturing grid system design

A newly bio-inspired path planning algorithm for autonomous obstacle avoidance of UAV

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Chinese Journal of Aeronautics 2021年第9期34卷 199-209页

作者： Yaoming ZHOU Yu SU Anhuan XIE Lingyu KONG School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Intelligent robot Research center ZHEJIANG LABZhejiang 311121China

In this paper,a bio-inspired path planning algorithm in 3 D space is *** algorithm imitates the basic mechanisms of plant growth,including phototropism,negative geotropism and *** algorithm proposed in this paper solves the dynamic obstacle avoidance path planning problem of Unmanned Aerial Vehicle(UAV)in the case of unknown environment *** with other path planning algorithms,the algorithm has the advantages of fast path planning speed and fewer route points,and can achieve the effect of low delay real-time path *** feasibility of the algorithm is verified in the Gazebo simulator based on the robot Operating System(ROS)***,an actual UAV autonomous obstacle avoidance path planning experimental platform is built,and a UAV obstacle avoidance path planning flight test is carried out based on this actual environment.

关键词： Obstacle avoidance Path planning Plant growth ROS UAV

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航空CBT中协同训练系统的设计与实现

计算机工程与设计 2007年第15期28卷 3727-3730页

作者：陈东帆周林灿刘佛生上海大学robot&cims中心上海200072

通过将计算机支持的协同工作(computer supported cooperative work,CSCW)的概念引入计算机支持的教育培训(com-puter based training,CBT)领域来设计与开发基于虚拟现实思想的娱乐型的教育培训软件——航空CBT,它支持在局域网环境下的... 详细信息

通过将计算机支持的协同工作(computer supported cooperative work,CSCW)的概念引入计算机支持的教育培训(com-puter based training,CBT)领域来设计与开发基于虚拟现实思想的娱乐型的教育培训软件——航空CBT,它支持在局域网环境下的多人协同的分布式交互仿真操作训练系统,并应用了虚拟仿真和多人异地协同的计算机应用领域的前沿技术。系统开发采用混合式网络结构,运用3D动画、DirectX、COM、WinSock技术,在Virtools Dev 3.0环境中编译运行,利用Visual Studio 6.0进行自主模块开发,以增强系统功能,优化运行性能。

关键词：协同工作计算机辅助训练教育培训虚拟现实分布式交互仿真

Design and experiment of a picking robot for Agaricus bisporus based on machine vision

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International Journal of Agricultural and Biological Engineering 2024年第4期17卷 67-76页

作者： Jiangtao Ji Shucan Du Mengsong Li Xuefeng Zhu Kaixuan Zhao Shihao Zhang Xiang Ji College of Agricultural Equipment Engineering Henan University of Science and TechnologyLuoyang 471003HenanChina Science&Technology Innovation center for Completed Set Equipment Longmen LaboratoryLuoyang 471023HenanChina

Harvesting represents the crucial stage in the cultivation process of Agaricus bisporus *** important way for the production process of Agaricus bisporus to reduce costs and increase income is to ensure timely harvest of Agaricus bisporus,reduce harvesting costs,and improve harvesting *** are many disadvantages in manual picking,such as high labor intensity,time-consuming work and high *** this study,a set of mushroom picking platform including climbing mechanism,picking robot,and control system was designed and *** picking robot consisted of a truss mechanism,an image acquisition device,a mushroom collection device,and a picking *** profile picking actuator could realize the function of constant force *** online size detection algorithm for Agaricus bisporus based on deep image processing was *** algorithm included removal of abnormal noise points,background segmentation,coordinate conversion,and diameter *** precision picking system for Agaricus bisporus with coordinate compensation function controlled by Industrial Personal Computer was designed,and the visual control interface was developed based on *** the performance test,the reliability of machine vision recognition and the overall operating stability of the picking platform were *** test results showed that in the process of machine vision recognition,the recognition accuracy rate was higher than 92.50%,the missed detection rate was lower than 4.95%,the false detection rate was lower than 2.15%,and the diameter measurement error was less than 4.50%.The image processing algorithm had high recognition rate and small diameter measurement error,which could meet the requirements of picking *** picking platform’s picking success rate was higher than 95.45%,the picking damage rate was lower than 3.57%,and the picking output rate was higher than 87.09%.Compared with manual picking,the recognition accuracy rate of t

关键词： Agaricus bisporus picking platform machine vision robot

Adaptive Trajectory Tracking Control for a Nonholonomic Mobile robot

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 546-552页

作者： CAO Zhengcai ZHAO Yingtao WU Qidi College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of robotics and System Harbin Institute of Technology Harbin 150001 China cims Research center Tongji University Shanghai 200092 China

As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot.

关键词： nonholonomic mobile robot trajectory tracking model reference adaptive

Study on Organization and Operation Mode of SMT-MG

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武汉理工大学学报 2006年第S2期28卷 453-458页

作者： LI Chunquan~(1.2) YU Tao~1 ZHOU Dejian~3 1.cims center,Shanghai University,Shanghai 210029,China 2.Dept.of Electronic Machinery and Traffic Engineering,Guilin University of Electronic Technology,Gailin 541004,China 3.Dept.of Electronic Machinery and Traffic Engineering,Guilin University of Technology,Guilin 541004,China cims center Shanghai UniversityShanghai 210029China Dept.of Electronic Machinery and Traffic Engineering Guilin University of Electronic TechnologyGuilin 541004China cims center Shanghai UniversityShanghai 210029China Dept.of Electronic Machinery and Traffic Engineering Guilin University of TechnologyGuilin 541004China

SNIT-MG is a typical application of grid in electric product *** organization and operation mode are hey problems in *** this paper,SMT-MG is taken as research *** mesh three-dimensional matrix orga- nization mode is *** from operation foundation,process,environment and target four aspects,operation prin- ciples are *** mechanisms of SMT-MG such as adaptive evolution,PUSH/PULL driving,cooperation and game,feedback,regulation/control,coordination,impetus mechanism and so on are ***,the operation flow of SMT-MG is introduced.

关键词： organization mode operation mode SMT-MG

Avoiding obstacles by using a proximity infrared sensor skin

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High Technology Letters 2007年第2期13卷 126-130页

作者：曹政才 Fu Yili Wu Qidi Wang Shuguo Wang Guangguo cims Research center Tongji University Shanghai 200092 P.R. China robotics Institute Harbin Institute of Technology Harbin 150001 P.R. China

Placement and wiring of vast amount of sensor elements on the 3-dimensionally configured robot sur-face to form soft sensor skin is very difficult with the traditional technology. In this paper we propose a new method to realize such a *** implanting infrared sensors array in an elastic body, we obtain an elastic and tough sensor skin that can be shaped *** developed sensor skin is a large-area, flexi-ble array of infrared sensors with data processing *** on the skin electronics, it en-dows its carrier with an ability to sense its *** structure, the method of infrared sensor sig-nal processing, and basic experiments of sensor skin are presented. The validity of the infrared sensor skin is investigated by preliminary obstacle avoidance trial.

关键词： robot sensor skin infrared sensor obstacle avoidance

Flexible sensors with zero Poisson's ratio

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National Science Review 2024年第5期11卷 153-169页

作者： Xin Huang Tianzhao Bu Qingyang Zheng Shaoyu Liu Yangyang Li Han Fang Yuqi Qiu Bin Xie Zhouping Yin Hao Wu Department of Mechanical Engineering Flexible Electronics Research Center State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and Technology Department of Electronic Science and Technology School of Integrated CircuitsHuazhong University of Science and Technology

Flexible sensors have been developed for the perception of various stimuli. However, complex deformation,usually resulting from forces or strains from multi-axes, can be challenging to measure due to the lack of independent perception of multiaxial stimuli. Herein, flexible sensors based on the metamaterial membrane with zero Poisson's ratio(ZPR) are proposed to achieve independent detection of biaxial stimuli. By deliberately designing the geometric dimensions and arrangement parameters of elements, the Poisson's ratio of an elastomer membrane can be modulated from negative to positive, and the ZPR membrane can maintain a constant transverse dimension under longitudinal stimuli. Due to the accurate monitoring of grasping force by ZPR sensors that are insensitive to curvatures of contact surfaces, rigid robotic manipulators can be guided to safely grasp deformable objects. Meanwhile, the ZPR sensor can also precisely distinguish different states of manipulators. When ZPR sensors are attached to a thermal-actuation soft robot, they can accurately detect the moving distance and direction. This work presents a new strategy for independent biaxial stimuli perception through the design of mechanical metamaterials, and may inspire the future development of advanced flexible sensors for healthcare, human–machine interfaces and robotic tactile sensing.

关键词： zero Poisson's ratio metamaterials independent perception of multiaxial stimuli flexible sensor

Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish robot

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Journal of Bionic Engineering 2009年第1期6卷 37-45页

作者： Patar Ebenezer Sitorus Yul Yunazwin Nazaruddin Edi Leksono Agus Budiyono Department of Engineering Physics Bandung Institute of TechnologyBandung 40132Indonesia Smart robot center Department of Aerospace EngineeringKonkuk UniversitySeoul 143-701Korea

In present,there are increasing interests in the research on mechanical and control system of underwater *** ongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations, scientific deep ocean surveys,military purposes,ecological and water environmental studies,and also entertainments. However,the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency and *** main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrust forces which make the control of the position and motion difficult. On the other hand,fishes and other aquatic animals are efficient swimmers,posses high maneuverability,are able to follow trajectories,can efficiently stabilize themselves in currents and surges,create less wakes than currently used underwater vehicle, and also have a noiseless *** fish's locomotion mechanism is mainly controlled by its caudal fin and paired pectoral *** are classified into Body and/or Caudal Fin(BCF)and Median and/or paired Pectoral Fins(MPF).The study of highly efficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism. There are few studies on underwater vehicles or fish robots using paired pectoral fins as *** work presented in this paper represents a contribution in this area covering study,design and implementation of locomotion mechanisms of paired pectoral fins in a fish *** performance and viability of the biomimetic method for underwater vehicles are highlighted through in-water experiment of a robotic fish.

关键词： fish robot pectoral fins servos rowing flapping feathering