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Simulation and experiment research of non-contact micro-liquid reagent dispensing

Advance Journal of Food Science and Technology 2013年第5期5卷 514-521页

作者： Yufeng, Yao Shizhou, Lu Yaxin, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 China

With the development of biological analytical techniques and high throughput screening techniques, a large number of automated biological agents dispensing systems are widely used in the field of life science research. Non-contact dispensing method characterizedby its small dispensing volume, high dispensing precision and quick service speed which satisfies the requirements of biological agent's distribution, becomes the mainstream dispensing method used in reagent dispensing systems. However, the difficult control way, complex system of non-contact dispensing method and its vulnerable dispensing process, which can be easily affected by characteristics of the agent, have hindered the application and development of the method. In this study, simulation model of the separation process ofmicro scale biological reagent are constructed in order to solve the above problems. The prerequisites of the non-contact dispensing method, the relationship between dispensing volume and precision and characteristics of reagents, formation of system and control parameters are researched through theoretical analysis and numerical simulations. The experiment results are quite consistent with the simulation results;therefore it well verifies the reliability of the modeling and simulation method and also lays a firm theoretical foundation for the system design of non-contact micro-liquid reagent distribution and control optimization © Maxwell Scientific Organization, 2013.

关键词： Numerical methods

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A highly integrated joint controller for a humanoid robot arm

A highly integrated joint controller for a humanoid robot ar...

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IEEE International Conference on robotics and Biomimetics

作者： Zijian Zhang Fenglei Ni Yi Ren Minghe Jin Yiwei Liu Hong Liu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781479927456

A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors - the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been integrated with five level emergent condition response strategies to ensure safety of the robot arm. To test performance of the joint controller, a testing platform has been established. Though a serious of experiments, the performance of the joint controller including the motor drive function, the sensor information acquisition and the joint track and velocity control can be validated.

关键词： Joints Magnetic sensors Brushless motors Temperature sensors Torque Robots

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Spatio-temporal EEG data classification in the NeuCube 3D SNN environment: Methodology and examples

Spatio-temporal EEG data classification in the NeuCube 3D SN...

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20th International Conference on Neural Information Processing, ICONIP 2013

作者： Kasabov, Nikola Hu, Jin Chen, Yixiong Scott, Nathan Turkova, Yulia Knowledge Engineering and Discovery Research Institute Auckland University of Technology New Zealand State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783642420504

A vast amount of complex spatio-temporal brain data, such as EEG-, have been accumulated. Technological advances in many disciplines rely on the proper analysis, understanding and utilisation of these data. In order to address this great challenge, the paper utilizes the recently introduced by one of the authors 3D spiking neural network environment called NeuCube for spatio-temporal EEG data classification. A methodology is proposed and illustrated on two small-scale examples: classifying EEG data for music- versus noise perception, and person identification based on music perception. Future development and usage of the NeuCube environment can be expected to significantly further the creation of novel brain-computer interfaces, cognitive robotics and medical engineering devices. © Springer-Verlag 2013.

关键词： Neural networks

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An FES-assisted training strategy combined with impedance control for a lower limb rehabilitation robot

An FES-assisted training strategy combined with impedance co...

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IEEE International Conference on robotics and Biomimetics

作者： Yixiong Chen Jin Hu Weiqun Wang Liang Peng Long Peng Zeng-Guang Hou State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences

ISBN: (纸本)9781479927456

In order to investigate the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, this paper proposes an FES-assisted training strategy combined with impedance control for our self-made exoskeleton lower limb rehabilitation robot. This control strategy is carried out in a leg press task. Through impedance control, an active compliance of the robot is established, and the patient's voluntary effort to accomplish the task is inspired. During the training process, the patient's related muscles are applied with FES which provides an extra assistance to the patient. The intensity of the FES is properly chosen aiming to induce a desired active torque which is proportional to the voluntary effort of the patient. This kind of enhancement serves as a positive feedback which reminds the patient of the correct attempt to fulfill the desired motion. FES control is conducted by a combination of neural network-based feedforward controller and a PD feedback controller. The feasibility of this control strategy has been verified in Matlab.

关键词： Robots Torque Muscles Force Trajectory Joints Impedance

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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Localization and Navigation of Intelligent Wheelchair in Dynamic Environments

Localization and Navigation of Intelligent Wheelchair in Dyn...

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2013年中国智能自动化学术会议

作者： Jingchuan Wang Juncheng Wang Weidong Chen Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China State Key Laboratory of Robotics and System(HIT)

An intelligent wheelchair JiaoLong with multi-mode is developed for the handicapped and the *** is designed of two manipulate modes according to the user's disability and the environments for *** on the dynamic localizability matrix,an improved particle filter localization algorithm is proposed in this *** results of experiments show the practicability of the system design and the effectiveness provided by the improved localization method.

关键词： Intelligent Wheelchair control modes Localization Algorithm

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Trot Pattern Generation for Quadruped Robot Based on the ZMP Stability Margin

Trot Pattern Generation for Quadruped Robot Based on the ZMP...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Si Zhang Yi Liu Zhe Xu Junyao Gao Xingguang Duan Hui Li Zhangguo Yu Xuechao Chen Jing Li Huaxin Liu Xin LI Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

Quadruped robot is expected to serve in complex conditions such as mountain road,grassland,etc.,therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped *** order to solve this problem,this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability *** foot trajectory is first designed based on the work space *** the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the *** angles of each joint are finally obtained through the inverse kinematics ***,the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.

关键词： Quadruped robot ZMP stability margin Trot pattern

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SEM-based tele-nanomanipulation system with virtual 3D visual and force interaction

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Jiqiren/Robot 2013年第1期35卷 52-59+66页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electrical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In order to increase the interaction of nanomanipulation, a tele-nanomanipulation platform with virtual 3D visual feedback and virtual force sense feedback is built by combining with the virtual reality technology and the force feedback device. To ensure that the virtual environment is able to reflect the real nanomanipulation environment accurately, the collision detection and force sensing rendering of the virtual model is designed in detail. The virtual match link between the force feedback device and virtual environment is introduced to ensure the stability of the force interaction interface and to increase the coordination of the master control module. Aiming at the accurate nanomanipulation, the image characteristics extraction method based on the region of interest is adopted to exact the depth information of probe. Then the relationship of image fuzzy degree and the distance between the probe and the substrate is quickly established, and the closed-loop control of the probe is realized. Finally, with the developed platform and the proposed method, the shift experiments of single ZnO nanowire are completed.

关键词： Scanning electron microscopy

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3D modeling of coronary arteries based on tubular-enhanced CURVES segmented regions for robotic surgical simulation

3D modeling of coronary arteries based on tubular-enhanced C...

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IEEE International Conference on robotics and Biomimetics

作者： Fan Yang Zeng-Guang Hou Shao-Hua Mi Gui-Bin Bian Xiao-Liang Xie State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781479927456

The visualization of the coronary vasculature is of utmost importance in interventional cardiology. Intravascular surgical robots assist the practitioners to perform the complex procedure while protecting them from the tremendous occupational hazards. Robotic surgical simulation aims to provide support for the learners in both efficiency and convenience. The blood vessels especially the coronary arteries with rich details are the key part of the anatomic scenario of the virtual training system. The variations in diameters and directions make the segmentation of the coronary arteries a difficult work. In this paper, a robust and semi-automatic approach for the segmentation of the coronary arteries is developed. The approach is based on the multi-scale tubular enhancement and an improved geodesic active contours model. The demonstrated approach firstly enhances the tubular objects by computing their “vesselness”. Next the edge potential maps are calculated based on the enhanced information. Meanwhile, the initial contours are generated by a modified fast marching method. Then the actual wave fronts evolution extracts the details of the coronary arteries. Finally the visualization model is organized based on the segmentation results by the marching cubes method. This approach has been proved successful for the visualization of the coronary arteries based on the CTA information.

关键词： Arteries Robots Computational modeling Level set Eigenvalues and eigenfunctions Visualization Training

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