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Gesture recognition based on sparse representation

International Journal of Wireless and Mobile Computing 2016年第4期11卷 348-356页

作者： Miao, Wei Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Liu, Honghai College of Machinery and Automation Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth PortsmouthPO1 3HE United Kingdom

Aiming at the problem that the robustness of gesture recognition is difficult to guarantee, this paper presents a method based on multi-features and sparse representation. Hu invariant moments and HOG features of training samples are extracted in training phase. The K-SVD algorithm is used to train the initial value of dictionary formed by two features so as to obtain two sub-dictionaries. In recognition phase, sparse coefficients of corresponding training dictionary are derived by solving minimum l1-norm. Finally, the overall reconstruction error is calculated to judge the categories of test samples. In experimental simulation, five kinds of grasp gesture are collected to create gesture sample library. After selecting optimal HOG parameters and the weight of two features, the recognition effect of the method is analysed. Compared with the commonly used classification, the results show that the method has better recognition rate and robustness. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Gesture recognition

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Study of Individual Characteristic Abdominal Wall Thickness Based on Magnetic Anchored Surgical Instruments

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Chinese Medical Journal 2015年第15期128卷 2040-2044页

作者： Ding-Hui Dong Wen-Yan Liu Hai-Bo Feng Yi-Li FU Shi Huang Jun-Xi Xiang Yi Lyu Department of Hepatobiliary Surgery First Affiliated Hospital Xi'an Jiaotong University Xi'an Shaanxi 710061 China School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

Background：Magnetic anchored surgical instruments （MASI）,relying on magnetic force,can break through the limitations of the single port approach in *** characteristic abdominal wall thickness （ICAWT） deeply influences magnetic force that determines the safety of *** purpose of this study was to research the abdominal wall characteristics in MASI applied environment to find ICAWT,and then construct an artful method to predict ICAWT,resulting in better safety and feasibility for ***：For MASI,ICAWT is referred to the thickness of thickest point in the applied *** determined ICAWT through finding the thickest point in computed tomography *** also investigated the traits of abdominal wall thickness to discover the factor that can be used to predict ***：Abdominal wall at C point in the middle third lumbar vertebra plane （L3） is the thickest during chosen *** layer thickness plays a more important role in abdominal wall thickness than muscle layer thickness.＂BMI-ICAWT＂ curve was obtained based on abdominal wall thickness of C point in L3 plane,and the expression was as follow：f（x） =P1 × x^2 ＋ P2 x x ＋ P3,where P1 =0.03916 （0.01776,0.06056）,P2 =1.098 （0.03197,2.164）,P3 =-18.52 （-31.64,-5.412）,R-square：***：Abdominal wall thickness of C point at L3 could be regarded as *** could be a reliable predictor of *** the light of ＂BMI-ICAWT＂ curve,we may conveniently predict ICAWT by BMI,resulting a better safety and feasibility for MASI.

关键词： Individual Characteristic Abdominal Wall Thickness Magnetic Anchored Surgical Instruments Minimally Invasive Surgery

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Comparative Vibration Analysis Of A Slender Beam In Gravity Compensation Test And Zero-Gravity Environment

Comparative Vibration Analysis Of A Slender Beam In Gravity ...

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2015 International Conference on Fluid Power and mechatronics

作者： Mo Lidong Vitalii Morkovin Zhen Liu Haibo Gao GuanXin Chi National Key Laboratory of Robotics and System(Harbin Institute of Technology) School of Mechatronics Engineering Harbin Institute of Technology

The Space Station mission require an exhaustive engineering study before a manned mission can be put into space. Since the dynamic behavior of an entire assembly cannot be tested on earth, computer models are used as an engineering tool to be able to predict what might happen in space. The main goal of this research is to find a new mathematical model to calculate the first natural frequency of a slender beam in gravity compensation test and in zero-gravity environment. It means that the model should work correctly on the ground and in space. It can help engineers understand the behavior of a beams in space. Theoretical model describes the first natural frequency of a slender beam. The major issues in the beam development are: determine the governing differential equation, obtaining the eigenfunctions from governing equation. These issues apply to both Euler-Bernoulli and energy transfer theories. To get compare analyze for this two environments we are to model the element of Space Station Remote Manipulator system(SSRMS) in gravity compensation test and in zero-gravity environment, using Distributed- Parameter Models use Maple Software. We also use ANSYS Workbench software with normal mode analysis to simulate the beam behavior due to dynamic vibration. In the end, the modern mathematics solution is close to classic model and simulation data. As a result, the modern model can be applied to determine vibrations in gravity compensation test.

关键词： Natural frequency Distributed Parameter Models zero-gravity Gravity compensation test Mode analysis Finite element analysis Maple Ansys Linear vibration

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Design and Dynamic Analysis of an Underwater Manipulator

Design and Dynamic Analysis of an Underwater Manipulator

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2015年中国智能自动化学术会议

作者： Wuxiang Zhang Hongcheng Xu Xilun Ding School of Mechanical Engineering and Automation Beihang University State Key Laboratory of Robotics and System (HIT)

Underwater Vehicle/Manipulator system(UVMS) is an important equipment for the exploitation of marine resources. The paper introduces a fivefunction manipulator, which is the main operating tool of UVMS and has four DOFs and a claw. All joints are driven by hydraulic cylinders for a better impermeability to seawater. A novel wrist mechanism utilizing groove cam is presented for achieving a rotation motion output. In addition, the dynamics of the manipulator interacting with the UVMS system is analyzed based on Kane's method. The effects from the fluid environment are also taken into consideration, which include added mass, drag force, and buoyancy. Finally, dynamic simulations of UVMS are performed to reveal the effect of the volume ratio between the manipulator and vehicle on the stability of UVMS and a critical ratio is found.

关键词： UVMS Underwater manipulator Wrist mechanism Hydrodynamic forces Volume ratio

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Comparative vibration analysis of a slender beam in gravity compensation test and zero-gravity environment

Comparative vibration analysis of a slender beam in gravity ...

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International Conference on Fluid Power and mechatronics (FPM)

作者： Mo Lidong Zhen Liu GuanXin Chi Vitalii Morkovin Haibo Gao National Key Laboratory of Robotics and System (Harbin Institute of Technology) Harbin China School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

The Space Station mission require an exhaustive engineering study before a manned mission can be put into space. Since the dynamic behavior of an entire assembly cannot be tested on earth, computer models are used as an engineering tool to be able to predict what might happen in space. The main goal of this research is to find a new mathematical model to calculate the first natural frequency of a slender beam in gravity compensation test and in zero-gravity environment. It means that the model should work correctly on the ground and in space. It can help engineers understand the behavior of a beams in space. Theoretical model describes the first natural frequency of a slender beam. The major issues in the beam development are: determine the governing differential equation, obtaining the eigenfunctions from governing equation. These issues apply to both Euler-Bernoulli and energy transfer theories. To get compare analyze for this two environments we are to model the element of Space Station Remote Manipulator system (SSRMS) in gravity compensation test and in zero-gravity environment, using Distributed - Parameter Models use Maple Software. We also use ANSYS Workbench software with normal mode analysis to simulate the beam behavior due to dynamic vibration. In the end, the modern mathematics solution is close to classic model and simulation data. As a result, the modern model can be applied to determine vibrations in gravity compensation test.

关键词： Mathematical model Vibrations Gravity Earth Space stations Robots

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Multi-sensor control for precise assembly of optical components

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Chinese Journal of Aeronautics 2014年第3期27卷 613-621页

作者： Ma Li Rong Weibin Sun Lining School of Mechatronic Engineering and Automation Shanghai University State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to perform an optical assembly accurately, a multi-sensor control strategy is developed which includes an attitude measurement system, a vision system, a loss measurement system and a force sensor. A 3-DOF attitude measuring method using linear variable differential transformers （LVDT） is designed to adjust the relation of position and attitude between the spher- ical mirror and the resonator. A micro vision feedback system is set up to extract the light beam and the diaphragm, which can achieve the coarse positioning of the spherical mirror in the optical assembly process. A rapid self-correlation method is presented to analyze the spectrum signal for the fine positioning. In order to prevent the damage of the optical components and realize sealing of the resonator, a hybrid force-position control is constructed to control the contact force of the optical components. The experimental results show that the proposed multi-sensor control strategy succeeds in accomplishing the precise assembly of the optical components, which consists of parallel adjustment, macro coarse adjustment, macro approach, micro fine adjustment, micro approach and optical contact. Therefore, the results validate the multi-sensor control strategy.

关键词： Assembly Attitude measurement Force control Multi-sensor Vision

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Nanotubes: Nanoconfined Atomic Layer Deposition of TiO2/Pt Nanotubes: Toward Ultrasmall Highly Efficient Catalytic Nanorockets (Adv. Funct. Mater. 24/2017)

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Advanced Functional Materials 2017年第24期27卷

作者： Jinxing Li Wenjuan Liu Jiyuan Wang Isaac Rozen Sha He Chuanrui Chen Hyun Gu Kim Ha‐Jin Lee Han‐Bo‐Ram Lee Se‐Hun Kwon Tianlong Li Longqiu Li Joseph Wang Yongfeng Mei Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 P. R. China Department of Materials Science and Engineering Incheon National University Incheon 22012 Republic of Korea School of Materials Science and Engineering Pusan National University Busan 46241 Republic of Korea Department of Materials Science Fudan University Shanghai 200433 P. R. China

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Improving convergence of ICP for registering RGB-D images using hierarchical index

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Journal of Computational Information systems 2015年第1期11卷 27-35页

作者： Li, Xingdong Wang, Pengfei Zha, Fusheng Li, Mantian Guo, Wei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

Relative 6 DOF pose transformation is necessary for registering two RGB-D images. Although the Iterative Closest Point (ICP) algorithm has been widely used to solve the relative pose, it would be enhanced significantly if the characteristic of its application object has been fully considered. This paper concentrates on improving the convergence of ICP for estimating the pose transformation between two RGB-D images, and the divergence problem is avoided. A hierarchical index is proposed to search corresponding point used by ICP. A measurement of convergence rate is firstly proposed for comparison. ©, 2014, Journal of Computational Information systems. All right reserved.

关键词： Iterative methods

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Correction: Electrocoalescence of paired droplets encapsulated in double-emulsion drops

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Lab on a chip 2016年第22期16卷 4466页

作者： Yankai Jia Yukun Ren Weiyu Liu Likai Hou Ye Tao Qingming Hu Hongyuan Jiang School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@***. School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@*** and State Key Laboratory of Robotics and System Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. jhy_hit@***.

Correction for 'Electrocoalescence of paired droplets encapsulated in double-emulsion drops' by Yankan Jia et al., Lab Chip, 2016, DOI: .

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Ethercat slave controller via an asynchronous 16 bit μController algorithm based on FPGA

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ICIC Express Letters, Part B: Applications 2014年第2期5卷 421-426页

作者： Jiang, Li Hou, Mingxin Zhang, Yuanfei Chen, Zhaopeng Liu, Hong School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

A novel 16 bit Asynchronous μController based on FPGA state machine algorithm for the EtherCAT Slaved during write and read access is described in this paper. The present study focuses on the Schematic of μController interconnection between FPGA and ESC based on the VHDL state machine algorithm, which includes fifteen states. In addition, the performance of the Asynchronous μController was verified through numerical simulations. Finally, we found the simulations give further evidence that the 16 bits Asynchronous μController signals can satisfy two write access and a read accesses requirements for the EtherCAT Slave Controller. © 2014 ISSN 2185-2766.

关键词： Field programmable gate arrays (FPGA)

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