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IEEE International Conference on robotics and Biomimetics

作者： Xiongheng Bian Haibo Huang Liguo Chen Jiangsu Provincial Key Labratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China Robotics & Microsystem Center &Collaborative Innovation Center of SuZhou Nano Science and Technology Soochow University Suzhou China

ISBN: (纸本)9781728103785;9781728103778

In this paper, a study is presented to investigate the better strategy of transporting droplet by vibration. A comparison about the droplet's mobile performance of different moving strategy has been investigated in the experiments. A new method which can drive droplets back-and-forth moving in an unparallel plates through vertical-direction vibration of up-plate is proposed. The strategy of driving droplet by ratchetlike moving (repeated opening and closing movement) has been proposed, but the single direction of droplet moving and the incompatible with other devices limited the application of such strategy. The better performance of the vertical vibration method during transporting droplet is showed. Validation experiments were carried out to characterize the droplet actuation by vertical vibration of up-plate.

关键词： Vibrations Chemicals Force Hysteresis Robots Liquids Microfluidics

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Fractal characterization of the oxidation structure in ZrB2-SiC composite after thermal shocks

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IOP Conference Series: Materials Science and Engineering 2019年第1期531卷

作者： F Qi S H Meng P Wu H Guo D Zhao T Chen School of Mechanical and Electric Engineering & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215021 China Science and Technology on Advanced Composites in Special Environment Laboratory Harbin Institute of Technology Harbin 150080 China Artificial Organ Laboratory Bio-manufacturing Research Centre School of Mechanical and Electric Engineering Soochow University Suzhou 215021 China Jiangsu Provincial Key Laboratory of Advanced Robotics & Robotics and Microsystems Center Soochow University Suzhou 215021 China

The effect of the oxidation structure on the residual strength of ZrB2-SiC composite after repeated thermal shocks was investigated. The silica-rich glasses on the oxidation surface and pores in the oxidation layer were characterized using the fractal geometry method. Their fractal dimensions were calculated by Box-counting method. The increase of silica-rich glasses and the decrease of pores contributed to the increase of the residual strength of ZrB2-SiC after thermal shocks.

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A robust and accurate SLAM algorithm for omni-directional mobile robots based on a novel 2.5D lidar device

A robust and accurate SLAM algorithm for omni-directional mo...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Yu Yang Guilin Yang Yingzhong Tian Tianjiang Zheng Long Li Zhenhua Wang CAS Ningbo Institute of Materials Technology and Engineering Ningbo China School of Mechatronic Engineering and Automation ShangHai University Shanghai China Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China

Lidars are commonly employed in mobile robot SLAM applications due to their high stability and high measuring accuracy. For a conventional 2D Lidar, only the planar points can be detected in once scan, which limits the robustness of SLAM algorithms. Omni-directional mobile robots with powered caster wheels have 3-DOF planar motion capabilities so that they are widely deployed in narrowly constrained environment. This paper presents a novel design of a 2.5D Lidar device, in which a 2D Lidar is mounted onto a 1-DOF liner stage that moves along the vertical direction. As a result, the 2.5D Lidar device can also perform vertical scanning within the motion range of the liner stage. Consequently, a robust SLAM algorithm based on the 2.5D Lidar device is proposed for the omni-directional mobile robot, where a frame-to-frame scan matching using ICP algorithm is employed to improve the robustness and accuracy of the scan matching. As the 2.5D points cloud is actually located in a belt-shaped space, the map can be finally constructed in a 2D mode to reduce the computational complexity. In addition, when an incorrect matching occurs, the odometry information of the mobile robot will be employed to further improve the robustness and accuracy of the scan matching algorithm. The effectiveness of the proposed approach is validated through computer simulations.

关键词： Laser radar Mobile robots Two dimensional displays Three-dimensional displays Simultaneous localization and mapping Wheels

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EXPERIMENTAL STUDY OF MICROMANIPULATION SYSTEM WITH MULTI-FINGERED STRUCTURE

EXPERIMENTAL STUDY OF MICROMANIPULATION SYSTEM WITH MULTI-FI...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Tao Chen Kai Meng Huicong Liu Zhan Yang Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center Soochow University Suzhou China

With developments of micro-manipulation and micro-assembly, there is a growing demand for micro-grippers which are able to overcome the adhesion forces to pick up and release micro-objects effectively. This paper presents a separate-structured triple-finger gripper. Each finger is driven by piezoelectric (PZT) transducer. The gripper's end effectors are replaceable, so different end effectors can be used to adjust various targets with different shapes and sizes. The three fingers were assembled on an adjustable pedestal, so this gripper is able to achieve a precise clamping range. In the experiments, microspheres of different materials with diameters ranging from 10 μm to 800 μm were picked and released with more than 85% success rate. The applications of micro-assembly and super-resolution imaging were shown in the gripping experiments, which demonstrate important practical significance of this gripper. This triple-finger gripper has simple machining processes, high flexibility, and low cost.

关键词： Grippers Fingers End effectors Force Piezoelectric transducers Adhesives Probes

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Non-contact optical super-resolution imaging study based on height-variable microsphere

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Journal of Physics: Conference Series 2018年第1期1074卷

作者： Kai Meng Shilin Gao Zhan Yang Huicong Liu Tao Chen Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215123 China

Super-resolution images can be achieved by coupling the microscale dielectric microsphere with white-light optical microscopy. This paper presented a method for adjusting the distance between microsphere and sample to study the imaging ability of the microsphere. By this method, the nanofeatures on the Blu-ray disc surface could be observed. The super-resolution images when microspheres at different heights were compared to analyse the changing trend of imaging ability with distance. The optical simulation results illustrated that super-resolution imaging ability was related to the position of the photonic nanojet. As the photonic nanojet was inside the sample, the super-resolution image could be achieved even if the microspheres didn't touch the sample. This work has great significance for manipulating microsphere to non-contact image.

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Large field-of-view super-resolution image obtained by manipulating submerged microsphere

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Journal of Physics: Conference Series 2018年第1期1074卷

作者： Shilin Gao Kai Meng Zhan Yang Huicong Liu Tao Chen Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215123 China

Images with super-resolution can be obtained by dielectric microspheres with appropriate refractive index. However, in practical applications, the microsphere must be moved to the desired position and can scan the large specific area. Here we present a simple method of positioning a microsphere by using a four-dimensional precision translation stage. The simulations have been performed to confirm that 16 μm barium titanate glass (BTG) microsphere submerged in alcohol can obtain high quality images and the influence of the probe and the flowing liquid on imaging can be ignored. Therefore, by driving the translation stage, the submerged microsphere can scan the sample surface along the X and Y axis at the speed of 10 μm/s and the large field-of-view image can be achieved by stitching the pictures of different positions. This work has provided a new technique in super-resolution imaging and can be widely applied in field of scientific research.

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A Method for Improving the Measurement Accuracy of Vehicle FMCW Radar

A Method for Improving the Measurement Accuracy of Vehicle F...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Yue Guan Wei Li Liguo Chen Haibo Huang Xiaoxu Li Xiwei Gao Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology School of Mechanical and Electric Engineering Soochow University

ISBN: (纸本)9781538604915

According to the problem that the center frequency of the signal is not accurate, the result is inaccuracy. In view of this situation, the principle of measuring the range and velocity of the target using FMCW radars is studied, and then the beat signal is processed to improve the accuracy of the frequency estimation. This paper uses the window function for signal filtering in order to reduce the effect of leakage and fence effect;then FFT is used to find out the rough location of the target frequency;finally one-dimensional Gauss function is used to refine spectrum of FFT in order to get the estimated frequency. Matlab is used for simulation. Compared with different methods, the results show that the method of this paper can get a higher accuracy of the distance and speed values.

关键词： Window function FFT Gauss function Spectrum analysis window function Fast Fourier transform Gauss equation Spectrum Analysis accuracy of measurement BEAT SIGNALS center frequency frequency-modulated-continuous-wave radar signal filtering Frequency estimation

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An Automatic Measurement Method of Zona Pellucida Thickness Based on Coordinate Transformation

An Automatic Measurement Method of Zona Pellucida Thickness ...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Yadi Li Haibo Huang Liguo Chen Xiwei Gao Jiaqi Huang Xiangpeng Li Zhan Yang Jiangsu Provincial Key Labratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China

ISBN: (纸本)9781538604915

Zona pellucida thickness (ZPT) is one of the indexes to reflect the quality of oocyte and the developmental potentiality of embryo. In order to avoid the error of manual measurement, the inverted microscope image of oocyte is used to measure the ZPT of oocyte. The automatic measurement of the ZPT is helpful to realize the automatic filtering of oocytes in the artificial assisted reproductive technology (ART) and the nuclear transplantation technique (NTT). In this paper, a method that based on coordinate transformation is used for the detection of inner and outer boundary of the zona pellucida. On the basis, ellipse is adopted to fit the inner and outer boundary lines. By referring to the selection of manual measurement point position and combining the ellipse fitting ellipse equation, the automatic measurement of the ZPT is realized. Experiment of measuring the ZPT of 30 mouse oocytes is carried out, and the results show that the method proposed can measure the ZPT precisely and automatically.

关键词： Thickness measurement Image edge detection Embryo Manuals Microscopy Gravity Mice

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System Calibration Towards Automated Nanomanipulation Inside Scanning Electron Microscope

System Calibration Towards Automated Nanomanipulation Inside...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Mingyu Wang Yaqiong Wang Zhan Yang Tao Chen Lining Sun Toshio Fukuda Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Department of Micro-Nano Systems Engineering Nagoya University

ISBN: (纸本)9781538604915

This paper presented the calibration of the nanorobotic manipulator inside Scanning Electron Microscope (SEM). Repeating movement is frequently happing to reach the predetermined position and in order to realize the automated nanomanipulation inside SEM, the errors of the nanomanipultor and the system must be analyzed. A series of experiments based on SEM image feedback were conducted and the end-effectors can characterize the relationship of the two axis. An atomic force microscope (AFM) cantilever was assembled on the top of the nanorobotic manipulator, which moved straightly along the X or Y axis under stable speed. Through SEM video stream, a image processing method was used to analyze the errors of the nanomanipultor and the thermal drift of the encoder. The movement of nanomanipultor presented the good linearity and the error between the platform and the image coordinates were deteced. The slope of the x-direction is less than 1.7° and the slope of the y-direction is less than 0.8°. The nanomanipultor corrected his own track until the drift error is accumulated to 260 nm.

关键词： Scanning Electron Microscope (SEM) Nanorobot Nanomanipulation Nanorobotics Scanning Electron Microscope drift loss Atomic Force Microscopy y axis lateral axis image processing method y direction Automation Electron Microscope

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A non-resonant rotational triboelectric energy harvester with high output performance

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Journal of Physics: Conference Series 2018年第1期1052卷

作者： J Lin H Liu T Chen Z Yang L Sun School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215123 China

Energy harvesting technology has received significant attention around the globe over decades. However, it meets with difficulties of achieving high output performance under non-resonant frequency. In this paper, a non-resonant rotational triboelectric energy harvester with high output performance, which relied on the coupling of triboelectrification and electrostatic induction, was presented. The harvester introduced a cylindrical stator and disk-shaped rotor, which are made of NdFeB. Without complicated movement mechanism, the stator and rotor, of a higher pair have theoretical line contact by magnetic attractive force. Under a hand shake frequency of about 8Hz, the peak-peak value can reach to 140V. The maximum power of 0.31mW was obtained at a resistance of about 107Ω. In addition, the voltage can reach up to 154V when running at a speed of 8 km/h on the treadmill. The harvester can be potentially used as a power supply to intelligent wearable devices.

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