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2009 IEEE International Conference on robotics and Automation, ICRA '09

作者： Liu, Yaxin Liguo, Chen Sun, Lining Rong, Weibin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781424427895

In biomedical areas, such as protein crystallization, drug discovery and medical diagnostics, thousands of reagents with different viscosities need to be transferred or dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiment to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, an intelligent precise liquid handling system was developed, in which A high speed MEMS flow sensor was used. Benefiting from the feedback of sensor information, the system can self-adjust the open time of the solenoid vale to accurately dispensing desired reagent volume without pre-calibration. Firstly, the system construction was introduced in detail. Secondly, a novel closed-loop control strategy was proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1l and approach 4% at 100 nl. © 2009 IEEE.

关键词： Diagnosis

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Automatic extraction of the midsagittal plane from volumetric magnetic resonance images

Automatic extraction of the midsagittal plane from volumetri...

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MIPPR 2009 - Medical Imaging, Parallel Processing of Images, and Optimization Techniques: 6th International Symposium on Multispectral Image Processing and Pattern Recognition

作者： Fu, Yili Zhang, Guangcai Wang, Shuguo Gao, Wenpeng Liu, Hao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780819478085

A novel method is presented to automatically extract the midsagittal plane (MSP) from volumetric MR images. The MSP which generally approximates the interhemispheric fissure is the plane separating both hemispheres. It is meaningful for the brain segmentation, registration, quantification and pathology detection especially in Talairach space. The algorithm works based on the theory of the symmetry principal axis, the local searching method and minimizing the local symmetry coefficient. The proposed algorithm is validated on 20 T2-weighted MR data sets, which indicates that a clear MSP image can be extracted in the presence of relatively bigger distance error or angular deviation. This fully automatic algorithm is potentially useful in the clinical application and for research. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Magnetic resonance

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3D ASM-based segmentation of the subcortical nucleus from volumetric MR images

3D ASM-based segmentation of the subcortical nucleus from vo...

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MIPPR 2009 - Medical Imaging, Parallel Processing of Images, and Optimization Techniques: 6th International Symposium on Multispectral Image Processing and Pattern Recognition

作者： Fu, Yili Gao, Wenpeng Xiao, Yongfei Wang, Shuguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780819478085

Delineation of the subcortical nucleus in MR images is prerequisite for advanced radiotheraphy, surgical planning and morphometric analysis. However, it is always difficult to implement such a complicated work. We proposed a novel framework of 3D active shape model (ASM) based segmentation of the subcortical nucleus in MR images. Firstly, the most representative one of all samples represented by the segmented MR volumes is selected as the template and triangulated to generate a triangulated surface mesh. Then, free form deformation is used to establish dense point correspondences between the template and the other samples. A set of consistent triangle meshes are obtained to build the model by a statistical analysis. To fit the model to a MR volume, the model is initialized with Talairach transformation and the edge map around the model is extracted using watershed transform. An algorithm of robust point matching is used to find a transformation matrix and model parameters to transpose the model near the target nucleus and match the model to the target nucleus, respectively. The proposed framework was tested on 18 brain MR volumes. The caudate, putamen, globus pallidus, thalamus, and hippocampus were selected as the objects. In comparison with manual segmentation, the accuracy (MeanSD) of the proposed framework is 0.900.04 for all objects. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Magnetic resonance imaging

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An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals

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Journal of Bionic Engineering 2009年第3期6卷 255-263页

作者： Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing Wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.state key laboratory of robotics and system,harbin institute of technology,harbin 150001,P.R.China2.institute of robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany3.College of Shipbuilding Engineering,harbin Engineering University,harbin 150001,P.R.China4.College of Automation,harbin Engineering University,harbin 150001,P.R.China [a]State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China [b]Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany [c]College of Shipbuilding Engineering Harbin Engineering University Harbin 150001 P. R. China [d]College of Automation Harbin Engineering University Harbin 150001 P. R. China

When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation *** paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG *** AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded *** can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping *** the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active *** a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.

关键词： humanoid hand underactuated mechanism EMG control suppon vector machine

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Path planning for minimizing base reaction of space robot and its ground experimental study

Path planning for minimizing base reaction of space robot an...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

作者： Wu, Jianwei Shi, Cai Wang, Bin Jiang, Zainan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Hei Longjiang Harbin 150001 China

ISBN: (纸本)9781424426935

In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint motion. This parameterization method can satisfy the kinematical constraints. The optimal object of base reaction is computed by inverse dynamics. In order to limit the joint velocity, an objective function including the constraint of joint velocity is defined. Genetic algorithm is introduced to solve the optimized problem, and the parameters for the minimum objective function value are found. The path planned is very smooth, and it can be applied in practical. According to the experiment on the zero gravity system, the effectiveness of the algorithm is proved. ©2009 IEEE.

关键词： Genetic algorithms

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GPRS based guard robot alarm system design

GPRS based guard robot alarm system design

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作者： Li, Maohai Sun, Lining Huang, Qingcheng Cai, Zesu Piao, Songhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769540276

This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robots in an integrated and highly portable manner, particularly in recent years the GPRS network provides wireless access of internet for mobile phone which becomes the most important and common terminal equipment. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, and add man-made intervention to the system, thus achieves a more convenient and reliable alarm system. The system mainly consists of two parts: detection of abnormal and dangerous situation in domestic environment and sending the alarm information as MMS form to the user's phone via GPRS networks. Finally experiments show that the alarm system can accurately send alarm information to the user's mobile phone. The system is low-cost, flexible, reliable, and can be widely used. © 2010 Crown Copyright.

关键词： Cellular telephones

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A novel Hierarchical decomposition for multi-player pursuit evasion differential game with superior evaders 09

A novel Hierarchical decomposition for multi-player pursuit ...

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2009 World Summit on Genetic and Evolutionary Computation, 2009 GEC Summit - 1st ACM/SIGEVO Summit on Genetic and Evolutionary Computation, GEC'09

作者： Ze-su, Cai Li-ning, Sun Hai-bo, Gao State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engeneering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781605583266

In this paper, we consider a novel Hierarchical decomposition approach for multi-player pursuit evasion game (MPPEG) where some evaders' capability are higher than those of all pursuers. Differently from standards MPPEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer onboard sensor. In this paper, we study the number of pursuers which necessitates for the capture condition and the time of all evaders have been captured. A novel Cooperative in the coalition formation is used for pursuer in their pursuit strategies deriving to 1) Avoid collision among objects, 2) Reduce the distance between each pursuer and the evader over the evolution of game;3) Keep the pursuers' formation around the evader invariant during the pursuit process and enclose the superior evader. The validity of our method is illustrated by two simulation examples. Copyright 2009 ACM.

关键词： Game theory

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A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

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Journal of Measurement Science and Instrumentation 2010年第3期000卷

作者： Guo-tai JIAO Feng WANG Dong-ze QIN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Mechatronics Engineering North University of China Taiyuan030051 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Robotics Research Center North University of China Taiyuan 030051 China College of Mechatronics Engineering North University of China Taiyuan030051 China

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed: fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

关键词： multi-hop wireless communication underground search and rescue robot

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Path planning for mobile robot based on rough set genetic algorithm

Path planning for mobile robot based on rough set genetic al...

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2nd International Conference on Intelligent Networks and Intelligent systems, ICINIS 2009

作者： Dai, Shijie Huang, He Wu, Fang Xiao, Shumei Zhang, Ting Research Institute of Robotics and Automation Hebei University of Technology HUT TianJin China State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

ISBN: (纸本)9780769538525

A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-making table of the robot is obtained, which can be simplified by the rough set theory to extract the minimal decision-making rules. We use these rules to train the initial population of the genetic algorithm (GA), and then solve the best path using GA. At last, the simulations are performed and contrasted under multigroup test conditions to the initial population of GA simplified by rough sets and generated randomly respectively, the results of which suggest that the effect of this suggested RSGA is significant at optimizing the robot path planning speed, especially in the complicated environments. © 2009 IEEE.

关键词： Motion planning

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The UBot modules for self-reconfigurable robot

The UBot modules for self-reconfigurable robot

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2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009

作者： Shufeng, Tang Yanhe, Zhu Jie, Zhao Xindan, Cui State Key Laboratory of Robotics and System Harbin Institute of Technology No.92 West Da-Zhi Street Harbin Heilongjiang China

The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient locomotion, self-reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is cubic structure based on universal joint, and has four connecting surfaces that can connect to or disconnect from adjacent modules. A hook-type connecting mechanism is designed, which could connect to or disconnect from adjacent modules quickly and reliably. This mechanism is self-locking after connected, and energy-saving. Wireless communication technology was employed in the module, which can avoid cable-winding and improve flexibility of locomotion and self-reconfiguration. One simple orientation detecting system is designed, which can detect four possible orientations by metal contact points. A group of UBot modules can adapt their configuration and function to changing environment without external help by changing their connections and positions. To achieve small oversize and mass, compact mechanical structures and electrical systems are adopted in module designing. At last, the experiment of connecting mechanism and locomotion of UBot has been implemented.

关键词： Machine design

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