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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chuang Zhang Jialin Shi Wenxue Wang Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science 10016 China Emerging Technologies Institute Department of Industrial & Manufacturing Systems Engineering University of Hong Kong Pokfulam Hong Kong

ISBN: (纸本)9781509037636

Cellular mechanical properties as the main physical performance characteristics have been actively studied in the past years for the study of cytobiology and the development of medicine. In this study, by combining Hertz model, a novel strategy is proposed to simultaneously measure the cellular mechanical properties including cellular mass, elasticity and viscosity, based on the principle of forced vibration stimulated by simple harmonic force, with piezoelectric transducer (PZT) as vibrator and Atomic Force Microscope (AFM) as detector. The corresponding theoretical model was derived and the simulation was realized based on the proposed model. The experiments of indentations and vibrations with myoblasts and myotubes were implemented to calculate the three mechanical parameters of cells according to the proposed strategy. The results validated the proposed approach. This work would be useful for the development of cytology, medicine, previously diagnose, specific therapy and so on.

关键词： Vibrations Force Substrates Cells (biology) Force measurement

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Unit Commitment Considering Demand Response Behavior Based on Utility Maximization

Unit Commitment Considering Demand Response Behavior Based o...

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IEEE Conference on Energy Internet and Energy system Integration

作者： Yumin Zhang Xueshan Han Bo Xu Li Zhang Donglei Sun Xiaofeng Miao Jiayin Jiang Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment (Department of Electrical Engineering Tsinghua University) Economic & Technology Research Institute of State Grid Shandong Electric Power Company State Grid Shandong Electric Power Company Yantai Electric Power Company

ISBN: (纸本)9781538614280

The active participation of demand side resources in power grid operation not only benefits the individual participant but also benefits the whole system. The optimal goal can promote by excavating the active behaviors of demand side. The welfare maximization of market participant is the driving force of such active behaviors. Considering the independence of each user's behavior, the consumer's utility function is selected to depict consumer's preference and demand response behavior. In order to coordinate the consumers' maximum welfare with social welfare maximization, consumers' utility function and units' operation cost are integrated into Unit Commitment (UC) model. The objective function is to maximize social welfare, by subtracting units' operation cost from consumers' total utility, and this objective can be acquired. Considering the proposed model should be solved in a distributed manner, the idea of the centralized coordination and the decentralized decision-making is proposed. Based on the Lagrangian relaxation (LR) principle and distributed real-time pricing scheme, a closed-loop feedback mechanism is constructed to reflect the relationship among generator output, price level, and load demand. The ten generating units example can illustrate the effectiveness of the proposed method.

关键词： Demand utility Decomposition coordination Electricity market Lagrangian relaxation Real-time pricing Unit commitment

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A Weather Condition Incorporated Data-driven Maintenance Scheme for Utility Poles

A Weather Condition Incorporated Data-driven Maintenance Sch...

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IEEE Power and Energy Society General Meeting

作者： Jun Zhong Wenyuan Li Caisheng Wang Feng Lin State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Department of Electrical and Computer Engineering Wayne State University

ISBN: (纸本)9781509041695

This paper presents a data-driven maintenance scheme for utility poles with weather data incorporated. An autoregressive moving average (ARMA) model for wind forecast and a pole mechanical strength probabilistic model are developed for implementing the data-driven maintenance strategy for utility poles. The reliability and economic benefits of adopting the maintenance scheme is analyzed in a case study. The results show that the proposed method improves the pole's reliability, resulting in an improved reliability and economic performance of the overall distribution system.

关键词： ARMA model Probabilistic model Utility pole Data-driven maintenance Reliability ELECTRICITY POLE Probabilistic Model Economic benefits data driven dispensing system weather condition meteorological data

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Intuitive Robot Teaching by Hand Guided Demonstration

Intuitive Robot Teaching by Hand Guided Demonstration

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IEEE International Conference on Mechatronics and Automation

作者： Lijun Zhao Xiaoyu Li Peidong Liang Chenguang Yang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Zienkiewicz Centre for Computational Engineering Swansea University Swansea SA1 8EN UK

ISBN: (纸本)9781509023974

In this paper, we have developed an intuitive robot teaching method based on hand guided demonstration. A depth camera is used to recognize various hand gestures which are used as the commands to control the robot gripper. Support Vector Machine (SVM) technique is used to classify different hand gestures. By an inverse kinematics approach, the human hand and robot endpoint workspace mapping has been performed. A preliminary experiment has been carried out on the Baxter robot simulator to verify the effectiveness of the proposed method. Test results indicates that the proposed hand guided robot teaching is intuitive, natural and effective and is of great potential for applications in human robot interaction.

关键词： Intuitive Robot Teaching robot gripper proposed method

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Global vegetation change analysis based on MODIS data in recent twelve years

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High Technology Letters 2016年第4期22卷 343-349页

作者：毛克彪 Li Zhaoliang Chen Jingming Ma Ying Liu Guang Tan Xuelan Yang Kaixian National Hulunber Grassland Ecosystem Observation and Research Station Institute of Agricultural Resources and Regional PlanningChinese Academy of Agricultural Sciences International Institute for Earth System Science Nanjing University State Key Laboratory of Remote Sensing Science Institute of remote sensing and Digital Earth Research Institute and Beijing Normal University College of Resources and Environments Hunan Agricultural University Department of Geography University of Cincinnati

Vegetation cover change is critical for understanding impacts and responses of vegetation to climate change. A study found that vegetation in the regions between 45°N-70°N was increasing using normalized difference vegetation index( NDVI) from 1981 to 1991 ten years ago. The global vegetation growth has changed because of climate change in recent twelve years( 2001- 2012). After thorough analysis based on satellite data,it is found that it is evident that the global vegetation changed( NDVI) little,and it is increasing slightly in Northern hemisphere while it is decreasing slightly in Southern Hemisphere. For different latitudes,vegetation is increasing 0.17% every year from 60°N to 70 °N( R^2= 0.47,P > 0.013),while the vegetation is decreasing 0.11% every year from 10°N to 10° S( R^2= 0.54,P > 0.004). For different continents,the vegetation in South America is decreasing 0.16% every year( R^2= 0.78,P > 0.0001) and it is increasing 0.05% every year in Asia( R^2= 0.28,P > 0.072) and 0.25% every year in Oceania( R^2= 0.24,P > 0.1). The analysis of global vegetation in different seasons indicates that spatial distribution of global temperature and water vapor will affect the spatial distribution of vegetation,in turn,the spatial distribution of vegetation will also regulate the global temperature and water vapor spatial distribution at large scale. The growth and distribution of vegetation are mainly caused by the orbit of the celestial bodies,and a big data model based on gravitational-magmatic change with the solar or the galactic system as its center is proposed to be built for analyzing how the earth's orbit position in the solar and galaxy system affects spatial-temporal variations of global vegetation and temperature at large scale. These findings promise a holistic understanding of the global climate change and potential underlying mechanisms.

关键词： vegetation global climate change remote sensing

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Flame detection based on spatio-temporal covariance matrix

Flame detection based on spatio-temporal covariance matrix

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Changjun Gu Dongying Tian Yang Cong Yanzhu Zhang Shuai Wang Automation and Electrical Engineering Department Shenyang Li gong University Shenyang China State Key Laboratory of Robotics Chinese Academy of sciences Shenyang China

ISBN: (纸本)9781509033652

Automatic fire flame detection is important for intelligent video surveillance. The background model and various color features are usually adopted for flame detection. In this paper, a fire flame detection method is developed by combining both background subtraction and region covariance. The color distribution method and background model with an adaptive background learning model are used to preprocess the image firstly. We then extract the space-temporal covariance matrix, which is used to fuse all the discriminative cues together. Finally we use support vector machine to classify fire scene. The proposed system is effective in detecting uncontrolled fire in complicated environment. Experiments based on several public fire video data sets are utilized to justify the effectiveness of our method.

关键词： Fires Image color analysis Covariance matrices Hidden Markov models Support vector machines Adaptation models Feature extraction

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Foreword

Foreword

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： Alireza Khaligh Research School of Engineering Australian National University Canberra Australia State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical & Engineer Jiamusi University Jiamusi China

It is my utmost pleasure to welcome you to the 2016 IEEE Applied Power Electronics Conference and Exposition (APEC 2016), at the Long Beach Convention Center, in Long Beach, California.

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Simulation of particle transportation trajectory in acoustic standing wave field

Simulation of particle transportation trajectory in acoustic...

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International Conference on Automation and Computing (ICAC)

作者： Huijuan Dong Shuai Liu Yingzi Guan Peng Zhang The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechatronics Engineering Harbin Institute of Technology Harbin China School of Astronautics Harbin Institute of Technology Harbin China

This work presents a model of a transducer array suitable for particle transportation. The transducer array is excited by sine function in voltage. The distributions of horizontal acoustic radiation forces are simulated using ANSYS and MATLAB-base program. The underlying motion equation is described in this paper. According to this equation, the motion trajectory of a levitated particle is calculated iteratively. It is pointed that the relative distance between the particle location and the potential well position can not be too long for stable transportation. Accordingly, the shortest modulation period for ultrasonic standing wave transportation is obtained.

关键词： Transportation Mathematical model Acoustics Acoustic arrays Trajectory Modulation

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Design and tolerance analysis of compliant exchanger for rescuing manipulator in nuclear power plant

Design and tolerance analysis of compliant exchanger for res...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Changyou Ma Hongjun Xing Haibo Gao Liang Ding Zongquan Deng Jianguo Tao Meiling Zhang College of Mechanical & Engineer Jiamusi University Jiamusi China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China Nuclear Power Technology Research Institute Shenzhen China

ISBN: (纸本)9781509033652

The rescue mission of nuclear plant is both complex and dangerous, there is an urgent need to enhance the dexterity of rescuing manipulator to realize the automatic tool replacement for executing different tasks. A compliant exchanger for rescuing manipulator in nuclear plant is manufactured. The exchanger adopts a new double universal joint docking method, which can realize the compliant docking and locking of actuator and tool, reduce requirement of control accuracy and contact force in the docking process. The paper does tolerance analysis to the double universal joint docking mechanism and builds a theoretical model for tolerance analysis. The tolerance performance is analyzed and verified through vertical simulation platform. Finally, the docking and locking experiment is done by using six degrees of freedom manipulator, the results prove the validity of the theoretical analysis and simulation analysis.

关键词： Actuators Manipulators Force Universal motors Shafts Springs

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Strategies to optimize fingertip force for impedance control of robot hand based on EtherCAT

Strategies to optimize fingertip force for impedance control...

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Proceedings of the Asia-Pacific Conference on Computer Science and Applications, CSAC 2014

作者： Hou, Mingxin Jiang, Li Jin, Minghe Liu, Hong Chen, Zhaopeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

ISBN: (纸本)9781138028111

This study proposes a method of an optimized fingertip force model based on impedance control. This method consists of two models: In the first step, Broyden-Fletcher-Goldfarb-Shanno(BFGS) is unconstrained impedance control for single robot finger that allows the efficiency of the fingertip force output. Then, the proposed multi-fingers model is based on Karush-Kuhn-Tucker (KKT) optimality conditions that satisfy the Lagrange inequality constraint function. This method is particularized for HIT/DLR dexterous hand II with five fingers and the performance of the two controllers are proven in two experiments. © 2015 Taylor & Francis Group, London.

关键词： Robotic arms

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