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| 1 | On-orbit real-time robust cooperative target identification in complex background显示文摘Cooperative target identification is the prerequisite for the relative position and orientation measurement between the space robot arm and the to-be-arrested object. We propose an onorbit real-time robust algorithm for cooperative target identification in complex background using the features of circle and lines. It first extracts only the interested edges in the target image using an adaptive threshold and refines them to about single-pixel-width with improved non-maximum suppression. Adapting a novel tracking approach, edge segments changing smoothly in tangential directions are obtained. With a small amount of calculation, large numbers of invalid edges are removed. From the few remained edges, valid circular arcs are extracted and reassembled to obtain circles according to a reliable criterion. Finally, the target is identified if there are certain numbers of straight lines whose relative positions with the circle match the known target pattern. Experiments demonstrate that the proposed algorithm accurately identifies the cooperative target within the range of 0.3–1.5 m under complex background at the speed of 8 frames per second, regardless of lighting condition and target attitude. The proposed algorithm is very suitable for real-time visual measurement of space robot arm because of its robustness and small memory requirement. | Wen Zhuoman Wang Yanjie Arjan Kuijper Di Nan Luo Jun Zhang Lei Jin Minghe | 2015 | Chinese Journal of Aeronautics2015，28，5： | 5 |
| 2 | Development of an underactuated prosthetic hand with the step motor显示文摘 | 赵大威 Jin Minghe Jiang Li Shi Shicai Liu Hong | 2006 | High Technology Letters2006，12，4： | 4 |
| 3 | Analysis of reaction torque-based control of a redundant free-floating space robot显示文摘Owing to the dynamics coupling between a free-floating base and a manipulator, the non-stationary base of a space robot will face the issue of base disturbance due to a manipulator's motion. The reaction torque acted on the satellite base's centroid is an important index to measure the satellite base's disturbance. In this paper, a comprehensive analysis of the reaction torque is made, and a novel way to derive the analytical form of the reaction torque is proposed. In addition,the reaction torque null-space is derived, in which the manipulator's joint motion is dynamically decoupled from the motion of the satellite base, and its novel expression demonstrates the equivalence between the reaction torque null-space and the reaction null-space. Furthermore, the reaction torque acted as an optimization index can be utilized to achieve satellite base disturbance minimization in the generalized Jacobian-based end-effector Cartesian path tracking task. Besides, supposing that the redundant degrees of freedom are abundant to achieve reaction torque-based active control, the reaction torque can be used to realize satellite base attitude control, that is, base attitude adjustment or maintenance. Moreover, because reaction torque-based control is a second-order control scheme, joint torque minimization can be regarded as the optimization task in reaction torque-based active or in-active control. A real-time simulation system of a 7-DOF space robot under Linux/RTAI is developed to verify and test the feasibility and reliability of the proposed ideas. Our extensive empirical results demonstrate that the corresponding analysis about the reaction torque is correct and the proposed methods are feasible. | Minghe JIN Cheng ZHOU Yechao LIU Hong LIU | 2017 | Chinese Journal of Aeronautics2017，30，5： | 3 |
| 4 | Hybrid task priority-based motion control of a redundant free-floating space robot显示文摘This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task's null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology. | Cheng ZHOU Minghe JIN Yechao LIU Zongwu XIE Hong LIU | 2017 | Chinese Journal of Aeronautics2017，30，6： | 2 |
| 5 | Fault-tolerant de- sign for joint of HIT/DLR space robot ann 显示文摘 | NI Fenglei JIN Minghe SHI Shicai | 2008 | Journal of Harbin Institute of Technology ( Newl Series)2008，15，3： | 1 |
| 6 | The anthropomorphic design and experiments of HIT/DLR five-fingered dexterous hand显示文摘This paper presents a new developed anthropomorphic robot dexterous hand:HIT/DLR Hand Ⅱ.The hand is composed of an independent palm and five identical modular fingers,and each finger hasthree degree of freedom(DOFs)and four joints.All the actuators and electronics are integrated in thefinger body and the palm.Owing to using a new actuator,drivers and a novel arrangement,both thelength and width of the finger is about two third of its former version.By using the wire coupling mecha-nism,the distal phalanx transmission ratio is kept exactly 1:1 in the whole movement range.The packingmechanism which is implemented directly in the finger body and palm not only reduces the size of wholehand but also make it more anthropomorphic.Additionally,the new designed force/torque and positionsensors are integrated in the hand for increasing multisensory capability.To evaluate the performances ofthe finger mechanism,the position and impedance control experiments are conducted. | 樊绍巍 Liu Yiwei Jin Minghe Lan Tian Liu Hong | 2009 | High Technology Letters2009，15，3： | 1 |
| 7 | Research on the Multi-Attribute Decision-Making under Risk with IntervalProbability Based on Prospect Theory and the Uncertain Linguistic Variables显示文摘 | Liu Peide Jin Fang Zhang Xin Su Yu Wang Minghe | 2011 | Knowledge-Based Systems2011，24，4： | 1 |
| 8 | DSP & FPGA-based control architecture for a highly integrated robot hand with enhanced impedance performance显示文摘 | 吴克 Lan Tian Chen Yangbin Liu Yiwei Jin Minghe Fan Shaowei Chen Zhaopeng Liu Hong | 2010 | High Technology Letters2010，16，2： | 1 |
| 9 | Reconfigurable robot based on modular joint concept显示文摘 | 史士财 Xie Zongwu Gao Xiaohui Jin Minghe Zhu Yingyuan Ni Fenglei Liu Hong Kraemer Erich Hirzinger Gerd | 2006 | High Technology Letters2006，12，4： | 0 |
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