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International Conference on Image Analysis and Signal Processing, IASP

作者： Xie Xiaohui Zhang Lei Yu Xiaofang Du Ruxu Shenzhen Institute of Advanced Integration Technology Chinese University of Hong Kong Shenzhen Hong Kong China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Science and Technology Harbin China ShenZhen People's Hospital Shenzhen China

Interventional treatment becomes increasingly popular since this technique means substantially less trauma for the patient. By using VTK and ITK to build a plan system, the treatment can be high efficiency. VTK is responsible for visualization, while ITK takes care of the image segmentation and registration. By combining VTK and ITK, and using Qt as the user interface, an interventional treatment plan system is built. This system has finished several mainly functions, like DICOM data displaying in multi-planar reformation, manual segmentation, semi-automatic segmentation, surface rendering using marching cubes algorithm, volume rendering using volume ray casting algorithm. Also an interventional treatment plan system has been developed based on the medical inspection.

关键词： Liver neoplasms Image segmentation Medical treatment Rendering (computer graphics) Data visualization User interfaces DICOM Surface finishing Surface treatment Casting

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A tool-path interpolation algorithm based on unfolding-bending parametric curves

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key Engineering Materials 2009年 407-408卷 220-224页

作者： Fan, Licheng Sun, Lining Du, Zhijiang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9780878493388

To grind sculptured surface by swing motion, it's needed to interpolate the discrete data nodes on the arc-driving surface. To ensure that all the sample points locate on the arc surface, a novel unfolding parameter curve is proposed. Firstly, all the discrete data are stretched onto a plane, inside hich the cubic B-spline curves are interpolated. After that, some points are sampled from the spline curves and bended to the arc-driving surface according to the swing radius. To eliminate cutting vibration and chord error exceeds limitation;radial speed is tuned by controlling the chord error. The simulation results are given to prove the proposed algorithm. © (2009) Trans Tech Publications, Switzerland.

关键词： Curve fitting

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Influence of Axial Length Ratio of Stator Segment on Performance of Tubular Transverse Flux Linear Machine

Influence of Axial Length Ratio of Stator Segment on Perform...

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Biennial Institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

作者： Zhao Mei Zou Ji-bin Jiang Xin-tong Fu Xing-he Chandur Sadarangani State Key Laboratory of Robotics and System Harbin Institute of Technology Dept. Electrical Machines and Power Electronics KTH

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis.

关键词： Tubular Finite element method linear machines Stators machine performance axial length Transverse LenRto

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Multiple-Pursuer Cooperative Multiple-Evader Games based on auction mechanism

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Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology 2010年第SUPPL. 2期42卷 160-164页

作者： Cai, Ze-Su Hong, Bing-Rong Sun, Li-Ning State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

This paper mainly discusses Multiple-Pursuer Cooperative Multiple-Evader Games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional Contract Net protocol is extended, including the motivational vector of robot, the trust degree and the acquaintance degree to improve the alliance decision. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on auction was proposed in this paper. It allocated task dynamically through capability classification and independent competition. It can support the dynamically changing capability of each agent and reduce the cost of communication and the difficulty of acquiring knowledge. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multipurpose robots

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Erratum to: Notice of Modification

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Journal of Bionic Engineering 2010年第1期7卷 112-112页

作者： Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

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Factors governing heat affected zone during wire bonding

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Transactions of Nonferrous Metals Society of China 2009年第S02期19卷 490-494页

作者： SUN Li-ning LIU Yue-tao LIU Yan-jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Mechanical Engineering Shandong University of TechnologyZibo 255049China

In the wire bonding process of microelectronic packaging,heat affect zone(HAZ)is an important factor governing the loop profile of *** height of loop is affected by the length of the *** governing the HAZ were *** investigate this relationship,experiments were done for various sizes of wire and free air ball(FAB).Electric flame-off(EFO)current, EFO time,EFO gap and recrystallization were also *** results show that as the size of FAB becomes larger,the length of HAZ *** the increase of EFO current and time,the length of HAZ becomes *** FAB forms at the same parameter the length of HAZ becomes shorter with the high temperature of recrystallization.

关键词： heat affected zone wire bonding electric flame off free air ball

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Theoretical analysis and experimental study of ultrasonic vibration microdissection technology

Theoretical analysis and experimental study of ultrasonic vi...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

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

ISBN: (纸本)9781424426935

Molecular techniques are transforming our understanding of cellular function and the origin of disease. However, accurate molecular analysis methods will be limited if the input DNA, RNA, or protein is not derived from pure population of cells or is contaminated by the wrong cells. So a novel Ultrasonic Vibration Microdissection (UVM) method was proposed to procure pure population of targeted cells from tissue sections for subsequent analysis. In the last two years, an ultrasonic vibration microdissection system for molecular analysis of tissue had been developed in our laboratory. In this system, a multilayer piezoelectric actuator is used to actuate a sharp microneedle vibrating with high frequency and low amplitude to cut the tissue. In this paper, we focus on the ultrasonic vibration microdissection principle and various parameters on the impact of cutting effect. It is helpful for setting the system parameters, thus as vibration amplitude and frequency, properly to get the ideal cutting effect. Finally, contrast experiments were carried out, and the experiment results show agreement with the analyses results. It indicates that the embedded tissue can be quickly and precisely cut with the ultrasonic vibration microdissection method under the proper parameters. ©2009 IEEE.

关键词： Microdissection

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The anthropomorphic design and experiments of HIT/DLR five-fingered dexterous hand

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High Technology Letters 2009年第3期15卷 239-244页

作者：樊绍巍 Liu Yiwei Jin Minghe Lan Tian Liu Hong State Key laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Institute of Robotics and Mechatronic German Aerospace Center Wessling DLR 82230 Germany

This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom （DOFs） and four joints. All the actuators and electronics are integrated in the finger body and the palm. Owing to using a new actuator, drivers and a novel arrangement, both the length and width of the finger is about two third of its formner version. By using the wire coupling mecha- nism, the distal phalanx transmission ratio is kept exactly 1 ： 1 in the whole movement range. The packing mechanism which is implemented directly in the finger body and palm not only reduces the size of whole hand but also make it more anthropomorphic. Additionally, the new designed force/torque and position sensors are integrated in the hand for increasing muhisensory capability. To evaluate the performances of the finger mechanism, the position and impedance control experiments are conducted.

关键词： anthropomorphic hand wire coupling mechanism packing mechanism multisensory capability

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A method of target recognition from remote sensing images

A method of target recognition from remote sensing images

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 2009

作者： Fu, Yili Xing, Kun Han, Xianwei Wang, Shuguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424438044

According to the characteristics of airfield and harbor from remote sensing images, a method of large target recognition based on the combination of target region and shape features is presented. First, edge detection and improved Hough transform are used to select line segments, the region including regular-array line segments in image is considered as region of interesting (ROI). ROI detection is the base for recognition. Target geometry shape is extracted from ROI using optimum threshold segmentation, which removes location effect and improves efficiency. As calculating shape principal orientations, all shapes are rotated to the same horizontally right to avoid rotation effect. The features extracted from shape implement multi-levels representation with moment features, normalized moment of inertia, length-width ratio and compact ration. Finally, feature vectors are normalized to measure similarity between target and template. Experiments show that target regions can be located accurately using ROI detection and it is effective for target recognition. Besides, the extracted features have good invariability with respect to rotation, translation and scaling, and they comprise local and overall consistency of the target, therefore, the recognition results meet expectations well. © 2009 IEEE.

关键词： Hough transforms

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Collision detection of flexible joint manipulator by using joint torque sensors

Collision detection of flexible joint manipulator by using j...

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2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

作者： Jinjun, Xia Zongwu, Xie Honggen, Fang Tian, Lan Jianbin, Huang Hong, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781424428533

In this paper, we discuss a collision detection approach which enables the flexible joint manipulator to work safely in an unstructured environment. By using joint torque sensors, a novel Cartesian impedance control law is proposed to implement the compliance control at first;then adaptive dynamics joint controller is extended to all the joints for achieving precision control performance;furthermore, a Cartesian force-feedback path generation is developed for collision detection. The proposed approach simplifies application to the manipulator, keeps the manipulation friendly to the environment, and rigorously guarantees the asymptotical stability of the entire system. The experimental results illustrate the validity of the developed collision detection and planning scheme. ©2009 IEEE.

关键词： Compliance control

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