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MIPPR 2009 - Medical Imaging, Parallel Processing of Images, and Optimization Techniques: 6th International Symposium on Multispectral Image Processing and Pattern Recognition

作者： Fu, Yili Gao, Wenpeng Xiao, Yongfei Wang, Shuguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780819478085

Delineation of the subcortical nucleus in MR images is prerequisite for advanced radiotheraphy, surgical planning and morphometric analysis. However, it is always difficult to implement such a complicated work. We proposed a novel framework of 3D active shape model (ASM) based segmentation of the subcortical nucleus in MR images. Firstly, the most representative one of all samples represented by the segmented MR volumes is selected as the template and triangulated to generate a triangulated surface mesh. Then, free form deformation is used to establish dense point correspondences between the template and the other samples. A set of consistent triangle meshes are obtained to build the model by a statistical analysis. To fit the model to a MR volume, the model is initialized with Talairach transformation and the edge map around the model is extracted using watershed transform. An algorithm of robust point matching is used to find a transformation matrix and model parameters to transpose the model near the target nucleus and match the model to the target nucleus, respectively. The proposed framework was tested on 18 brain MR volumes. The caudate, putamen, globus pallidus, thalamus, and hippocampus were selected as the objects. In comparison with manual segmentation, the accuracy (MeanSD) of the proposed framework is 0.900.04 for all objects. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Magnetic resonance imaging

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Path planning for minimizing base reaction of space robot and its ground experimental study

Path planning for minimizing base reaction of space robot an...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

作者： Wu, Jianwei Shi, Cai Wang, Bin Jiang, Zainan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Hei Longjiang Harbin 150001 China

ISBN: (纸本)9781424426935

In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint motion. This parameterization method can satisfy the kinematical constraints. The optimal object of base reaction is computed by inverse dynamics. In order to limit the joint velocity, an objective function including the constraint of joint velocity is defined. Genetic algorithm is introduced to solve the optimized problem, and the parameters for the minimum objective function value are found. The path planned is very smooth, and it can be applied in practical. According to the experiment on the zero gravity system, the effectiveness of the algorithm is proved. ©2009 IEEE.

关键词： Genetic algorithms

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A mobile self-reconfigurable robot based on modularity

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High Technology Letters 2009年第1期15卷 26-31页

作者：钟鸣 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.

关键词： self-reconfigurable robot mobility modularity docking

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Path planning for mobile robot based on rough set genetic algorithm

Path planning for mobile robot based on rough set genetic al...

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2nd International Conference on Intelligent Networks and Intelligent systems, ICINIS 2009

作者： Dai, Shijie Huang, He Wu, Fang Xiao, Shumei Zhang, Ting Research Institute of Robotics and Automation Hebei University of Technology HUT TianJin China State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

ISBN: (纸本)9780769538525

A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-making table of the robot is obtained, which can be simplified by the rough set theory to extract the minimal decision-making rules. We use these rules to train the initial population of the genetic algorithm (GA), and then solve the best path using GA. At last, the simulations are performed and contrasted under multigroup test conditions to the initial population of GA simplified by rough sets and generated randomly respectively, the results of which suggest that the effect of this suggested RSGA is significant at optimizing the robot path planning speed, especially in the complicated environments. © 2009 IEEE.

关键词： Motion planning

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Modeling of a new bio-electromechanical system

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Jiqiren/Robot 2009年第4期31卷 378-383页

作者： Zhang, Feng-Feng Sun, Li-Ning Du, Zhi-Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The method to build the bio-electromechanical model of wearable assistant bone-setting parallel robot system is studied. Firstly, the finite element model of human leg structure is established and the map from the relative pose of the broken bones to the force maintaining the relative pose unchanged is obtained. Then the static model of the parallel robot is established and the map from the load of the platform to the driving force of the branched chains maintaining the relative pose of the two platforms of the parallel robot unchanged is also obtained. The finite element model of human leg and the statics model of the robot are integrated, the appropriate coordinate transformation is made, and the bio-electromechanical model is built. Finally, simulation curves are obtained through simulation experiment, and the corresponding analysis is given.

关键词： Bone

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Effect and motion planning of manipulator for obstacle negotiation of tracked robot

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2009年第8期45卷 6-10+17页

作者： Wang, Weidong Kong, Minxiu Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Because the center of gravity (CG) position plays an important role in the process of leaping over a ditch, the CG position kinematics model is built. By using this model, the CG change situation is obtained, and the maximum width of the ditch which can be leaped over is obtained. Then the position and the velocity of the mobile manipulator in the starting and terminal posture are calculated by using this model. Because the dynamic behavior of mobile manipulator has an effect on the stability of leaping over a ditch, the dynamic model is built. By using the dynamic model and zero moment point (ZMP), dynamic effect of the mobile manipulator on leaping over a ditch is obtained. The accelerations of the mobile manipulator and the robot are obtained by using the dynamic model. Finally experiments are carried out to verify the correctness of analysis results and motion planning. ©2009 Journal of Mechanical Engineering.

关键词： Motion planning

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The UBot modules for self-reconfigurable robot

The UBot modules for self-reconfigurable robot

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2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009

作者： Shufeng, Tang Yanhe, Zhu Jie, Zhao Xindan, Cui State Key Laboratory of Robotics and System Harbin Institute of Technology No.92 West Da-Zhi Street Harbin Heilongjiang China

The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient locomotion, self-reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is cubic structure based on universal joint, and has four connecting surfaces that can connect to or disconnect from adjacent modules. A hook-type connecting mechanism is designed, which could connect to or disconnect from adjacent modules quickly and reliably. This mechanism is self-locking after connected, and energy-saving. Wireless communication technology was employed in the module, which can avoid cable-winding and improve flexibility of locomotion and self-reconfiguration. One simple orientation detecting system is designed, which can detect four possible orientations by metal contact points. A group of UBot modules can adapt their configuration and function to changing environment without external help by changing their connections and positions. To achieve small oversize and mass, compact mechanical structures and electrical systems are adopted in module designing. At last, the experiment of connecting mechanism and locomotion of UBot has been implemented.

关键词： Machine design

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An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals

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Journal of Bionic Engineering 2009年第3期6卷 255-263页

作者： Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing Wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.state key laboratory of robotics and system,Harbin Institute of Technology,Harbin 150001,P.R.China2.Institute of robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany3.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,P.R.China4.College of Automation,Harbin Engineering University,Harbin 150001,P.R.China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany College of Shipbuilding Engineering Harbin Engineering University Harbin P. R. China College of Automation Harbin Engineering University Harbin P. R. China

When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation *** paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG *** AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded *** can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping *** the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active *** a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.

关键词： humanoid hand underactuated mechanism EMG control suppon vector machine

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Motion and self-reconfiguration planning of self-reconfigurable robot based on windmill-like meta-module

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Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University 2009年第4期30卷 436-440页

作者： Ren, Zong-Wei Zhu, Yan-He Zhao, Jie Zhang, Yu-Hua State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Self-reconfigurable robots are different from other kinds of robots. The important difference is that these robots are self-reconfigurable based on their parts being intrinsically mobile. In order to give self-reconfigurable robots this ability, the authors conducted research using a structural features analysis of a DL-Cube module unit. On this basis a windmill-like meta-module (WLMM) was constructed. A design was made using the hierarchical planning method, on the basis of the WLMM, providing motion to the parts of the self-reconfigurable robot by a configuration that consists of WLMMs in the horizontal plane. At the same time, the WLMMs mobility allows changes to the azimuth of modules and the carrying of other modules. Thus the reconfiguration proceeds from an initial rectangular configuration to one that consists of 24 modules in an " H" configuration. Simulation experiments were given to prove the effectiveness of the hierarchical planning method and the feasibility of creating reconfigurability using WLMMs.

关键词： Motion planning

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Analysis on obstacle-climbing performance of tracked robot with manipulator

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Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 2009年第3期43卷 494-498页

作者： Wang, Wei-Dong Sun, Li-Ning Du, Zhi-Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Because the movement of mobile manipulator has an effect on the obstacle-climbing performance and stability, the center of gravity (CG) position kinematics model was built. Using this model, the change of the CG and the effect of mobile manipulato's postures on obstacle-climbing performance are obtained in the process. And the dynamic model of key posture of climbing up obstacle was built. The effects of the velocity and the acceleration of the mobile manipulator on obstacle-climbing performance were calculated by this model. Finally, several experiments verified the analysis. The analysis can help to design and control the robot.

关键词： Dynamic models

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