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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhou, Likai Jiang, Yuyang Liang, Guoyuan Wu, Xinyu Zhu, Jiafeng Xiang, Huaikun Shenzhen Institutes of Advanced Technology CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences China School of Automotive and Transportation Engineering Shenzhen Polytechnic Shenzhen Guangdong Province China School of Math Sun Yat-sen University Guangzhou Guangdong Province China

ISBN: (纸本)9781728163215

Image segmentation is one of the most important core technologies in the field of image processing and computer vision, which has lots of applications specifically in medical image analysis. Due to medical imaging mechanism, medical images usually suffer from heavy noises, uneven intensity distribution and fuzzy boundaries between biological tissues. That makes classical segmentation methods based on global or local thresholding difficult to get accurate results. This paper proposes an image segmentation method by multi-scale local thresholding based on class uncertainty theory. Firstly, the original image is divided into a set of sub-regions with different scales by using a multi-layer pyramid structure. Secondly, the energy function with inequality constraints is constructed based on class uncertainty and region uniformity. Then by an iterative process, the optimal local threshold for each sub-region are calculated by an optimization algorithm for each layer until the final optimal threshold mask is determined for image segmentation. Experimental results verify that the proposed method can effectively eliminate the interferences caused by image noises, intensity unevenness and fuzzy boundaries, and preserve details of object structure while segmenting the object from the background. Segmentation results demonstrate the superior performance of the proposed method by comparison with supervised range-constrained thresholding methods (RCOtsu), classical global/local Otsu method, and the minimization of homogeneity- and uncertainty-based energy method (MHUE). © 2019 IEEE.

关键词： Image segmentation

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Dynamic Contact Behaviors of Precision H-type Air Bearings during Startup Process

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Jixie Gongcheng Xuebao/Journal of Mechanical engineering 2018年第6期54卷 18-24页

作者： Zhang, Chuanwei Li, Dongsheng Gu, Le Wang, Liqin Sun, Tao School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

The dynamic air bearing force and asperity contact force of precision H-type air bearings are calculated considering the effect of air rarefaction and surface roughness. The axial motion of the rotor and the minimum air film thickness is obtained. The effect of both the number and depth of spiral grooves on the startup behaviors of the air bearing is discussed. The results show that the air bearing force increases with an increase in the angular velocity of the rotor. When the angular velocity is about 200 r/min, the rotor fully separates with the air bearing surface. The increasing spiral groove number leads to an increase in the air bearing force and a decreased in the contact force. However, slight change in the air bearing force and contact force is generated when the groove number is over 10. Considering the cost and efficiency for manufacturing the spiral grooves, the optimal groove number of the air bearing is 10. With an increase in the groove depth, the air bearing force first increases and then decreases, while the asperity contact force first decreases and then increases. When the groove depth is 1.5 μm, a maximum air bearing force and a minimum asperity contact force are generated. Therefore, under the startup condition of the air bearing, the optimal groove depth is 1.5 μm. © 2018 Journal of Mechanical engineering.

关键词： Air

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A Closed-Loop Controller for Cable-Driven Hyper-Redundant Manipulator with Joint Angle Sensors *

A Closed-Loop Controller for Cable-Driven Hyper-Redundant Ma...

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IEEE International Conference on robotics and Biomimetics

作者： Baibo Wu Lingyun Zeng Yang Zheng Shu’an Zhang Xiangyang Zhu Kai Xu State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China RII Lab (Lab of Robotics Innovation and Intervention) UM-SJTU Joint Institute Shanghai Jiao Tong University Shanghai China

A cable-driven hyper-redundant manipulator is especially suited for manipulations in confined spaces. In most of the existing approaches, a controller is often designed to actuate the joints by pulling the corresponding cables without the feedback from remote sensors at the joints. The un-modeled elongations of these cables due to unknown tensions often cause a decrease in control precision. To improve the performance of such a manipulator, this paper presents an investigation where miniature potentiometers are integrated into the joints for angle feedback. Furthermore, a puller-follower controller is developed to control the three cables of a universal joint for not only closed- loop joint angle control but also cable tension preservation. Applying the Hooke's Law, the cable tension is represented by its deformation. In this way, the controller is designed to realize both the desired angles and the cable deformations, without force sensing on the cables. Finally, experiments on a single joint and multiple joints were conducted to verify the effectiveness of this proposed controller.

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Integration of Optimal Experimental Design and Process Optimisation to An Enzyme Reaction system

Integration of Optimal Experimental Design and Process Optim...

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Chinese Automation Congress (CAC)

作者： Hui Yu Jielong Guo Xian Wei Peidong Liang Lijun Zhao Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences Quanzhou China Fujian (Quanzhou) HIT Research Institute of Engineering and Technology Harbin Institute of Technology Quanzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A multi-objective experimental design strategy is proposed for a kinetically controlled synthesis process system by considering both the parameter estimation and the desired production yield. The input design is focused on maximising the desired production yield while the observation design is aimed at minimising the parameter estimation uncertainties. This multi-objective experimental design strategy is compared with the integrated experimental design method in which all design factors are optimised to improve parameter estimation quality. The optimal experimental design (OED) problem for observation design is relaxed to a semi-definite programming problem which is solved via interior-point method. Numerical studies demonstrate the efficiency of the proposed OED strategy as well as keeping high production yield. Parameter estimation uncertainties have been reduced significantly and they are near to those from integrated experimental design. The main point of this work is to introduce the idea of combining process optimisation with system identification so that the proposed model is closer to the real operation conditions in chemical processes.

关键词： Parameter estimation Optimization Biological system modeling Process control Production Biochemistry Data models

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Research on Position Sensorless Control of PMSM Based on Improved SMO

Research on Position Sensorless Control of PMSM Based on Imp...

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作者： Zhang Guoqing Xiong Xinhong Zheng Yousheng Zhang Yanhui Chen Lianbo Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology School of Logistics Engineering Wuhan University of Technology

The sliding mode observer（SMO） can effectively achieve the permanent magnet synchronous motor（PMSM） to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.

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Parameter Tuning of PID Controller of Servo system Based on Particle Swarm Optimization Algorithm

Parameter Tuning of PID Controller of Servo System Based on ...

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作者： Chen Lianbo Xiong Xinhong Zheng Yousheng Zhang Yanhui Zhang Guoqing Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology School of Logistics Engineering Wuhan University of Technology

In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential(PID) control method based on particle swarm optimization(PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATLAB/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.

关键词： swarm Parameter Tuning of PID Controller of Servo system Based on Particle Swarm Optimization Algorithm Swarm

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Automatic Cell Assembly by Two-fingered Microhand

Automatic Cell Assembly by Two-fingered Microhand

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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Flying Cyborg: A New Approach for the Study of Coleoptera's Flight Pitching

Flying Cyborg: A New Approach for the Study of Coleoptera's ...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yao Li Ying Hu Shinjiro Umezu Hirotaka Sato School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen PR China Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Insititutes of Advanced Technology Chinese Academy of Sciences Shenzhen PR China Waseda University Tokyo Japan School of Mechanical & Aerospace Engineering Nanyang Technological University Singapore

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

The study of flight orientation has gained more and more attention. In this study, we demonstrated a cyborg beetle for measuring body orientations in free flight, which contained a living insect platform and a miniature backpack with micro battery. While flying in a large flight chamber, the flight status of cyborg beetle could be recorded remotely. Thereafter, the effect of pitching on flight control was analyzed. According to the recorded flight data, a strong linear relationship was revealed between the pitch angles and forward accelerations, which was quantified by the Pearson's correlation coefficients and the fitting of mean forward accelerations under each pitch angle. We believe the coupling of pitch angle and forward acceleration is generated by tilted net aerodynamic force and flight air drag. The achievement of the orientation analysis would inspire a new approach to control system design of flying cyborgs and flapping-wing micro air vehicles (MAVs).

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A lightweight soft exoskeleton in lower limb assistance

A lightweight soft exoskeleton in lower limb assistance

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Chinese Automation Congress (CAC)

作者： Yu Zhang Zhuo Wang Chunjie Chen Tao Fang Ruimei Sun Yanjie Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen China ShenZhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China BeiJing Aerospace Wanyuan Science Technology Co. Ltd. Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The soft exoskeleton is a wearable robot which is functioned to improve the capacity of human walking or loading. The metabolic of human is increase with the additional load, one integrated design method is used to reduce this effect in this paper. Meanwhile, in order to enhance the convenience and decrease the disturbance to wearer, the wireless module is used to replace the signal line. The nonlinear characteristics and uncertainty of flexible material make the control of soft exoskeleton system be a challenge, a switching controller is proposed to deal with this problem in this paper. It consists of Iterative learning control (ILC) based stable controller and admittance control based unstable controller, functioned with wearers walking stable and not. An experiment of force tracking is conducted to verify the controller performance in this paper, and the result demonstrate that the tracking is well after 20 iteration. In order to evaluate the performance of assistance of soft exoskeleton, five health adult male take part in metabolic experiment By compare the metabolic rate between the wear soft exoskeleton and not wear, the metabolic rate are decrease 7.33%, 14.56% and 10.45% with the walking speed of 3km/h, 5km/h and 7km/h, which are corresponding absolute values decrease of 0.46W/kg, 1.60W/kg and 1.21W/kg respectively.

关键词： AC motors Mechanical cables Wireless communication Pulleys Microprocessors Micromechanical devices Germanium

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Development of an Adaptive Prosthetic Hand *

Development of an Adaptive Prosthetic Hand *

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IEEE International Conference on robotics and Biomimetics

作者： Xu Yong Xiaobei Jing Xinyu Wu Jiang Jiang Hiroshi Yokoi Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences (CAS) CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences (CAS) Shenzhen China Department of Mechanical Engineering and Intelligent Systems The University of Electro-communications

Inspired by biomechanics, an adaptive prosthetic hand which not only considered the function of the motion of the digits but also the palm, is presented in this paper. The human hand consists of different kinds of bones, the phalanges in the digits and the metacarpals in the palm, which cooperate to perform adaptable and dexterous motions. Many existent prosthetic hands focus mainly on the movements of the digits, ignoring the palm. The proposed hand has 15 movable joints in the fingers and the thumb, and 2 movable metacarpals in the palm. The thumb and the four fingers are able to flex independently and adaptively wrap along with the shape of the object. The palm could perform an adaptive holding to some extent through the grasping process, due to the movable metacarpals. Furthermore, the hand design is also considered the weight and size limitations for being used as a prosthesis.

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