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Chinese automation Congress (CAC)

作者： Hongcheng Han Shaoyi Du Dong Zhang Hong Long Yucheng Guo Institute of Artificial Intelligence and Robotics College of Artificial Intelligence Xi’an Jiaotong University Xi’an P.R. China School of Software Engineering Xi’an Jiaotong University Xi’an P.R. China School of Automation Science and Engineering Xi’an Jiaotong University Xi’an P.R. China Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research College of Stomatology Xi’an Jiaotong University Xi’an P.R. China Stomatological Hospital of Xi'an Jiaotong University Xi’an P.R. China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In this paper, we use a deep learning method to realize automatic dental staging, which is an image classification task. Sample imbalance is found to influence the staging accuracy of deep learning method. Aiming at the problem, an optimized method for dental staging is proposed. Firstly, based on the thought of coarse-to-fine, the dental staging task is converted into a binary-classification and two multi-classification tasks to reduce the difficulty of each classification task. Secondly, data augmentation is used in multi-classification to balance the samples in different categories. Besides, the Easy-Ensemble method is used to reduce the influence of sample imbalance in the binary-classification task. According to the experiment results, the dental staging effect of the proposed method is improved in accuracy, recall, and accuracy compared with the unoptimized method, which verifies the availability of the proposed method.

关键词： Dentistry Teeth Training Task analysis Image recognition Medical diagnostic imaging Deep learning

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Teaching Graduate Professional English in Mechanical Engineering——Practice makes perfect

Teaching Graduate Professional English in Mechanical Enginee...

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第三届社会科学与高等教育学术会议

作者： Mei Liu Fangwen Zhu Yonghui Feng Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Precision Engineering School of Mechatronic Engineering and Automation Shanghai University

The instructors should adjust their professional English teaching strategy, as the graduate students' English ability keeps increasing year by year. Generally, students are better at reading and writing, compared to listening and speaking,which is typical of Chinese students. Most students could only figure out some words in listening, and professional English reading and writing are still a big challenge, as they are used to CET-4 and CET-6 type writing. The author took in latest scientific robot information in teaching, and adopted new ways of practices for listening/speaking/reading/writing/and final evaluation, which got along quite well with the students. The real practice was proved very helpful in professional English teaching.

关键词： professional English robot video evaluation practice

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Frequency domain error analysis in ultra-precision flycutting

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Key Engineering Materials 2014年第1期620卷 96-103页

作者： Chen, Guoda Liang, Yingchun Wang, Heran Sun, Yazhou Chen, Jiaxuan Center for Precision Engineering Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9783038351856

In some special fields such as precision optics, the part surface has strict requirements on the frequency domain errors, besides the conventional spatial domain errors such as surface roughness error. In light of the available works lacking of the frequency domain error analysis in ultra-precision flycutting, this paper therefore presents its frequency domain error analysis. A case study of KDP crystal flycutting is carried out to show its detailed processes, where the processing parameters, tool geometry, motion dynamic error of the machine guideway and tool-work vibration induced dynamic error are considered. A surface profile generation method is put forward. Two cases with different tool-work vibration frequencies are carried out. The spatial frequency spectrum is obtained based on the FFT analysis of the generated profile in the specified direction. After the in-depth analysis, the inherent correlation of the generated spatial frequency components with feed spatial frequency and machine dynamic errors induced spatial frequency under certain machining conditions are found, which is very meaningful for the frequency domain error prediction in the real application. The proposed analysis method can also be applied into other types of surface machining. © (2014) Trans Tech Publications, Switzerland.

关键词： Error analysis

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Review:Recent advances in nonlinear control technologies for shape memory alloy actuators

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2007年第5期8卷 818-829页

作者： SREEKUMAR M. SINGAPERUMAL M. NAGARAJAN T. ZOPPI M. MOLFINO R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology MadrasChennai 600 036India Laboratory of Design and Measurement for Automation and Robotics Department of Mechanics and Machines Design University of GenovaVia all'Opera Pia 15 a-16145 GenovaItaly

This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.

关键词： Shape memory alloy （SMA） actuators Nonlinear control Micro robots Hysteresis Position control Robotic manipulators

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Modeling and motion planning of the infant-size humanoid robot THBIP-II

Modeling and motion planning of the infant-size humanoid rob...

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IEEE-RAS International Conference on Humanoid Robots

作者： Zeyang Xia Ken Chen Yeming He Robotics and Automation Laboratory Department of Precision Instruments and Mechanology Tsinghua University Beijing China Ningbo Mecai Car Circlet Company Limited Zhejiang China

The infant-size humanoid robot THBIP-II, Tsinghua University biped robot II, is the second generation prototype of Tsinghua biped robots. THBIP-II is 75 cm tall, weighs 18 Kg, and has 24 degrees of freedom (DOF). This paper addresses the design, mechanical modeling, gait planning method, and global footstep planning method of the robot. First the humanoid mechatronics system and its kinematics and dynamics modeling are prescribed. Second, the gait planning algorithm developed for human-like walking is presented. Third, a footstep planning method for global navigation is addressed. Finally, the walking experiments are given to verify the validity of the above aspects.

关键词： Motion planning Humanoid robots Prototypes robotics and automation Legged locomotion Intelligent robots Humans Laboratories Kinematics Instruments

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Development and application of label OCR system based on LabVIEW

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2007年第SUPP. 4期28卷 241-243页

作者： Liu, Jinyue Li, Tiejun Wang, Zengchun State Key Lab. of Precision Measurement Technology and Instruments Tianjin University Tianjin 300072 China Research Institute of Robotics and Automation Hebei University of Technology Tianjin 300130 China Hebei Institute of Mechanical and Electronic Technology Xingtai 054048 China

In the conventional paper currency packing and encasing production line, the recognition of product labels is performed by the operators, which will result in large labor intensity and poor reliability. To overcome such a deficiency, a label OCR system is developed based on LabVIEW. And the DDE (dynamic data exchange) protocol is adopted to carried out the communication between it and industry configuration software. Both detection efficiency and detection precision improve greatly.

关键词： DDE Label OCR LabVIEW

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Multi-passageway information processing mechanism and application in vision tracing

Multi-passageway information processing mechanism and applic...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Jinyue, Liu Tiejun, Li Haiwen, Zhao Bo, Zhou Lab. of Precision Meets. Technol. Tianjin University Tianjin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

ISBN: (纸本)1424404665

Inspired by principle of human vision system, the multi-passageway parallel processing mechanism was introduced and used in the research on robot vision tracing. After the analysis of human vision system, a new object tracking approach simulating human vision is presented in this paper. This method uses color, shape and moving information, which are three main features of moving objects in a multi-passageway parallel processing way, and the result is obtained by synthesizing the output information of each passageway. A new contour extraction method is proposed by the concept of recept field (RF), and the model of 'On' RF is used in object's shape information processing. Some tracking experiments using this approach have been done on a multifunctional experiment platform. Comparing with traditional serial processing mechanism, the results of tracking experiments showed that this method could improve the image processing speed and precision in a great degree. © 2006 IEEE.

关键词： Parallel processing systems

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Design of SMA actuated light weight parallel manipulator with Intelligent Controller

Design of SMA actuated light weight parallel manipulator wit...

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作者： Sreekumar, M. Nagarajan, T. Singaperumal, M. Zoppi, M. Molfino, R. Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab - Laboratory of Design and Measurement for Automation and Robotics DIMEC - Department of Mechanics and Machines Design University of Genova Via all'Opera Pia 15 a 16145 Genoa Italy

ISBN: (纸本)9783902661166

Parallel manipulators are best known for their high load carrying capacity, stiffness, fast, accurate positioning etc., compared to their serial counterparts. Lightweight parallel manipulators are typical parallel mechanisms in which the linear-rotary actuators and spherical-rotary joints are replaced by smart actuators and with or without flexure joints. This paper describes about a lightweight miniature parallel manipulator of size 17.5mm dia.x25mm height, made of Beryllium-Copper spring steel and actuated by Shape Memory Alloy (SMA) actuators. The system modelling which includes dynamics and kinematics analysis is briefly described. The possibility of incorporating an Intelligent Fuzzy Controller is investigated. Preliminary simulation results are presented. Copyright © 2006 IFAC.

关键词： Fuzzy control

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Research of Vision Localization and Measuring System for Magnetic Field Distribution

Research of Vision Localization and Measuring System for Mag...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Jinyue Liu Zhoumo Zeng Baoguang Wang Tiejun Li State Key Laboratory of Precision Meas. Tech. & Instruments Tianjin University TJU Tianjin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

According to the special measurement requirement of the magnetic field distribution of radar electromagnetic focusing system, an automatic measurement instrument based on vision localization has been developed. The principles of vision localization and model construction of measurement instrument are described. Two key points of nonlinear calibration and coordinate transformation are analyzed in detail, and some experiments based on this method are given. The application of the vision localization shows that it can calculate all the real coordinates of holes accurately. As a result, the three-dimensional rectangular robot can fulfil the measurement task perfectly

关键词： Magnetic field measurement Electromagnetic measurements Instruments Robot kinematics Calibration Detectors Radar measurements Position measurement Velocity measurement Distortion measurement

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DESIGN OF SMA ACTUATED LIGHT WEIGHT PARALLEL MANIPULATOR WITH INTELLIGENT CONTROLLER

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IFAC Proceedings Volumes 2006年第15期39卷 310-315页

作者： M. Sreekumar T. Nagarajan M. Singaperumal M. Zoppi R. Molfino Precision Engineering and Instrumentation Laboratory Department of Mechanical Engineering Indian Institute of Technology Madras Chennai-600 036 India PMARlab — Laboratory of Design and Measurement for Automation and Robotics DIMEC — Department of Mechanics and Machines Design University of Genova Via all 'Opera Pia 15 a — 16145 Genoa Italy

关键词： Actuators Adaptive Control Artificial Intelligence Fuzzy Control Nonlinearity Robotic Manipulators

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