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Conference on Human System Interactions, HSI

作者： Zhi-Ming Yao Xu Zhou Er-Dong Lin Su Xu Yi-Ning Sun Department of Automation University of Science and Technology Hefei Anhui China The Key Laboratory of Biomimetic Semsing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China

A novel biometric recognition system is designed in this paper, using ground reaction force (GRF) measurements of continuous gait. Original GRF signals are combined in three directions Respectively. Waveform interpolation and align ment are performed to meet th e demand of feature extraction ba sed on wavelet packet (WP) decomposition, re-sampling approach is utilized to expand valid training sets. Features are s elected u sing a fuzzy set-based features election criterion. Classification is accomplished using a kernel-based support vector machine (SVM). The parameter tuning of the S VM classifier is performed using a grid searching method. The approach is tested on a database comprising GRF records obtained from 103 subjects. Comparative results demonstrate that re-sampling approach and waveform interpolation and alignment can improve the recognition accuracy.

关键词： Force measurement Interpolation Support vector machines Support vector machine classification Biometrics Feature extraction Wavelet packets Fuzzy sets Nominations and elections Virtual manufacturing

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Effective humanoid motion generation based on programming-by-demonstration method for entertainment robotics

Effective humanoid motion generation based on programming-by...

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International Conference on Virtual Systems and MultiMedia

作者： Il-Woong Jeong Yong-Ho Seo Hyun Seung Yang Department of Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Department of Intelligent Robot Engineering Mokwon University Daejeon South Korea

Generating a motion for a humanoid robot is very cumbersome task for robot programmers who use machine level program codes to develop new behaviors of the humanoid robot. Especially in the case of a motion that is usually consisted of complex postures with long length such as dances and martial arts, the difficulty of the generation process is very high. In this paper, we propose a method to generate motions of humanoid robots based on the user demonstration. A wearable interface is designed and developed to capture the users demonstration. A curve simplification algorithm and a clustering method are applied to convert an original motion sequence into an editable motion. Transition probabilities are calculated to construct the motion primitive from the editable motion and motions are regenerated by rearranging and transforming the motion primitives. A humanoid robot, AMIO is used to test the generated motion.

关键词： Humanoid robots Joints Humans Hidden Markov models Kinematics Prototypes

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Notice of Retraction: A Dynamic Simulation of Force in the Movement of Ameba Based on Cosmos

Notice of Retraction: A Dynamic Simulation of Force in the M...

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International Conference on Modeling, Simulation and Visualization Methods (WMSVM)

作者： Lei Chen Minzhou Luo Tao Mei Precision Machinery and Precision Instrumentation University of Science and Technology Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of Intelligent Machines Chinese Academy and Sciences Hefei China

This article has been retracted by the publisher.

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Identification of liquid materials using energy dispersive X-ray scattering

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Procedia Engineering 2010年 7卷 135-142页

作者： Yu Zhong Bai Sun Daoyang Yu Wei Li Yu Zhang Minqiang Li Jinhuai Liu Key Laboratory of Biomimetric Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230031 PR China Anhui Provincial Laboratory of Biomimetic Sensor and Detecting Technology West Anhui University Anhui Lu’an 237012 237012 PR China

Energy dispersive X-ray scattering (EDXRS) has been successfully applied for the identification of liquid materials for the first time. Three liquid systems of primary alcohols, ketones compounds and acids are carefully investigation and the scattering spectra are described. Based on structural and compositional differences of compounds, the scattering profiles of all samples exhibit characteristic shapes, indicating that EDXRS profile is unique to each specific liquid material. These findings imply that EDXRS would be promisingly applied as a non-invasive inspection for liquid identification.

关键词： Liquid materials Energy dispersive X-ray scattering Detection Identification

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Resonant frequencies of a piezoelectric drum transducer

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2009年第9期10卷 1313-1319页

作者： Jiang-bo YUAN Tao XIE Xiao-biao SHAN Wei-shan CHEN State Key Laboratory of Advanced Robot and System Harbin Institute of Technology Harbin 150001 China

This paper presents a piezoelectric-metal structure called a drum transducer. An equation for calculating the resonance frequency of the drum transducer is obtained based on thin plate elastic theory of piezoelectric and metal material combined with the Rayleigh-Ritz method. The finite element method (FEM) was used to predict the excitation frequency of the drum transducer. To verify the theoretical analysis, the input impedance characteristic of the drum transducer was measured using an experimental method. The results obtained from theoretical analysis were in very good agreement with those from the FEM and experimental results. The effect of geometrical changes to the thick-walled steel ring of the drum transducer at the first resonance frequency is also described. The calculated results were found to be in good agreement with the FEM results. The results indicate that the first resonance frequency of the drum decreases with the increasing inner diameter of the thick-walled steel ring.

关键词： Piezoelectric Drum transducer Resonance frequency

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Synchrotron radiation circular dichroism: a new tool for identification of point-mutation protein

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Procedia Engineering 2010年 7卷 143-146页

作者： Honglin Liu Shiqiang Wei Ye Tao Liangbao Yang Jinhuai Liu The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province Institute of Intelligent Machines Chinese Academy of Science Hefei 230031 China National Synchrotron Radiation Laboratory University of Science & Technology of China Hefei 230029 China Institute of High Energy Physics Chinese Academy of Sciences Beijing 100039 China

Many diseases are associated with the mutation of wild-type proteins. Usually, a point mutation can lead to severe clinical outcomes. Few techniques have the ability to detect the minute differences between the wild-type and mutant proteins in solution under near physiological conditions. Circular dichroism (CD) is an established and valuable technique for examining protein structure. Because of its ability to sensitively detect conformational changes, it has important potential for identification of mutant protein. Synchrotron radiation CD (SRCD) offers significant enhancements with respect to conventional CD spectroscopy, which will enable its usage for high-resolution conformation detection and as a tool in the point-mutation protein identification. In this report, SRCD was used, as an example, to identify the point-mutations of human phosphoribosyl pyrophosphate synthetase 1 which were associated with an X chromosome-linked disease.

关键词： Synchrotron radiation circular dichroism Secondary structure Point mutation Phosphoribosyl pyrophosphate synthetase 1

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Control of a redundantly actuated power line inspection robot based on a singular perturbation model

Control of a redundantly actuated power line inspection robo...

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Wang, Ludan Cheng, Sheng Zhang, Jianwei Hu, Ying Center for Robot Engineering and Cognitive Technology Lab Shenzhen Institute of Advanced Technology China TAMS University of Hamburg Germany Germany

ISBN: (纸本)9781424426799

This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the "conflict" between the two wheels. To effectively damp the elastic vibration caused by the flexible manipulator, the control system was decomposed into two subsystems, a slowly-changing subsystem and a fast-changing subsystem based on a singular perturbation model. A hybrid control method, consisting of a RBF adaptive PD control which was applied to slow-changing subsystem and optimal control which was applied to fastchanging subsystem was presented. The RBF adaptive algorithm can estimate the unknown resistance on-line and keep the controller stable. Simulation results prove this method to be reasonable and effective. © 2008 IEEE.

关键词： Wheels

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Measurement of Force Produced By an Insect-Mimicking Flapping-Wing System

Measurement of Force Produced By an Insect-Mimicking Flappin...

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The 3rd International Conference of Bionic Engineering(ICBE’10)

作者： Quoc Viet Nguyen Quang Tri Truong Hoon Cheol Park Nam Seo Goo Doyoung Byun Department of Advanced Technology Fusion Konkuk University Hwayang-dong Kwangjin-gu Seoul 143-701 South Korea Artificial Muscle Research Center & Smart Robot Center Konkuk University Hwayang-dong Kwangjin-gu Seoul 143-701 South Korea Department of Aerospace Engineering Konkuk University Hwayang-dong Kwangjin-gu Seoul 143-701 South Korea

In this work, we briefly present a new version of a compact and small insect-mimicking flapping-wing system driven by a motor. Flapping performance test shows the flapper, which was powered by an onboard battery (Lithium, 3.7V, 180mAh), could produce an average thrust or lift of about 3 grams at flapping frequency of 25 Hz, and an average forward velocity of 700 mm/s in a constrained condition. Two approaches for measuring the average force of the flapper were proposed and compared with a load cell. The average thrusts measured by the two new approaches agree well with the average thrust measured by a load cell.

关键词： Biomimetics, Beetle free flight, Wing kinematics, Flapper, Scotch yoke, linkage mechanism

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Variational structure of distributed parameter systems with boundary connections

Variational structure of distributed parameter systems with ...

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作者： Gou, Nishida Maschke, Bernhard Yamakita, Masaki Ito, Kazuhiro RIKEN-TRI Collaboration Center for Human-Interactive Robot Research Center Advanced Science Institute RIKEN 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya Aichi 463-0003 Japan Laboratoire d'Automatique et de Génie des Procédés UMR CNRS 5007 Université Claude Bernard Lyon 1 43 Bd du 11 Novembre 1918 F-69622 Villeurbanne Cedex France Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1 Oookayama Meguro Tokyo 152-8552 Japan Co. 5-23-1 Higashigotanda Shinagawa-ku Tokyo 141-0022 Japan

ISBN: (纸本)9783902661807

This paper discusses a boundary connection of distributed parameter systems from the viewpoint of variational calculus. First, we introduce admissible boundary variable pairs for systems defined on a compact domain with a boundary from variational complexes. Next, we define the boundary connection using the pairs by the existence of a common Lagrangian determining a connected system. Finally, we show that the connection of systems can be regarded as a boundary energy control. © 2010 IFAC.

关键词： Variational techniques

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Development of a novel H2S gas sensor based on CuO-doped SnO2 hollow nanospheres

Development of a novel H2S gas sensor based on CuO-doped SnO...

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IEEE Sensors 2009 Conference - SENSORS 2009

作者： Liu, Jinhuai He, Lifang Chen, Xing Meng, Fanli Li, Minqiang Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of IntelligMachines CAS Hefei China

ISBN: (纸本)9781424445486

An effort has been made to develop a kind of CuO-doped SnO2 gas sensors for detecting trace amount of H2S gas at relative low temperature. The CuO-doped SnO2 hollow nanospheres are prepared from SnO2 hollow spheres (employing carbon nanospheres as temples) and Cu precursor by dipping method. The sensitivity and selectivity of the sensors based on the as-prepared CuO-doped SnO2 hollow nanospheres have been studied in details. It had been found that trace amount of H2S gas can be detected by the sensors at a relative low temperature of 35°C. The good sensing performances might be attributed to two factors. Firstly, using SnO2 hollow nanospheres might increase the chances of formation of p-n junctions between CuO nanoparticles and SnO2 nanoparticles. Secondly, the existence of porous structure would improve the active sensing surface area and enhance the efficient gas diffusion. In one word, CuO-doped SnO2 hollow nanospheres might be one of the most promising materials for detecting trace amount of H2S gas. ©2009 IEEE.

关键词： Copper oxides

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