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IEEE International Conference on robotics and Biomimetics

作者： Minghe Jin Haitao Yang Zongwu Xie Kui Sun Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781479927456

In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and acquire the joint control torques. Then, the 3-dimensional model of space robot in the Pro/e software is imported in ADAMS software to build the simulation system. Finally, the joint control torques as inputs are adopted to simulate the motion state of space manipulator and its free-floating base in the ADAMS and Simulink co-simulation system. The simulation results demonstrate that the hybrid simulation experiment method is valid.

关键词： Aerospace electronics Joints Manipulators Mathematical model Computational modeling Software

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Generating colored point cloud under the calibration between TOF and RGB cameras

Generating colored point cloud under the calibration between...

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International Conference on Information and Automation (ICIA)

作者： Xingdong Li Wei Guo Mantian Li Chao Chen Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

3D point cloud is the original format of three dimensional map for the navigation of mobile robotics. Time of Flight camera can directly return 3D points and grayscale image simultaneously, but the color information is lost. In this paper, 3D points are colored by calibrating PMD camera with RGB camera, and then the RGB image is generated with respect to a frame of TOF camera. Point cloud form only one frame is not large enough for navigating the robot or observing the environment, an approach for combining two continuous frames is also proposed. Scale invariant features are detected from the RGB images generated, and features from two images are matched accurately. Iterative Closest Point(ICP) algorithm is used to estimate the relative pose transformation of TOF camera, the initial pose is computed from corresponded 3D feature point pairs. The experiments demonstrate the effectiveness of the approach proposed in the paper.

关键词： Cameras Three-dimensional displays Robot vision systems Calibration Gray-scale Image color analysis Feature extraction

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A new algorithm for wireless sensor network based on NS-2

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Journal of Measurement Science and Instrumentation 2013年第3期4卷 272-275页

作者：焦国太孟庆丰 State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechatronics Engineering North University of China Robotics Research Center North University of China

Considering wireless sensor network characteristics,this paper uses network simulator,version2(NS-2)algorithm to improve Ad hoc on-demand distance vector(AODV)routing algorithm,so that it can be applied to wireless sensor *** studying AODV routing protocol,a new algorithm called Must is brought *** paper introduces the background and algorithm theory of Must,and discusses the details about how to implement Must *** last,using network simulator(NS-2),the performance of Must is evaluated and compared with that of *** results show that the network using Must algorithm has perfect performance.

关键词： wireless sensor networks routing protocol network simulator, version 2 （NS-2） Must algorithmCLC number：TN926 Document code：AArticle ID：1674-8042（2013）03-0272-04

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Preliminary anchoring technology for landing on the asteroid

Preliminary anchoring technology for landing on the asteroid

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IEEE International Conference on robotics and Biomimetics

作者： Hong Liu Zhijun Zhao Jingdong Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province PRC

ISBN: (纸本)9781479927456

Anchoring technology is necessary for the lander to land on the asteroid. Four types of anchoring modes and their characteristics are discussed, and then an anchoring system is introduced. Some key factors related to the performance of the anchoring system are presented. These factors include characteristics of the asteroid, penetrating energy and shape of the anchor tip. Penetrating energy and shape of the anchor tip are analyzed quantitatively, and then pyrotechnical and conic anchor tip is selected for the anchoring system. Finally, anchoring system is tested by penetrating in soil and sand media.

关键词： Force Equations Shape Soil Mathematical model Springs Materials

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Automatic facial expression recognition using SVM based on AAMs

Automatic facial expression recognition using SVM based on A...

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2013 5th International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Wang, Li Li, Ruifeng Wang, Ke DEP. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769550114

An automatic facial expression recognition method is proposed to effectively recognize facial expression without any region unrelated to facial region. Support Vector Machine (SVM) is applied to recognize facial expression by Gabor features extracting using Gabor wavelet transformation after separate facial region from images Based on Active Appearance Models (AAMs), which reduce influence of illumination and pose. The feasibility and effectiveness of this system are verified by multiple experiments, and satisfied results are achieved. © 2013 IEEE.

关键词： Support vector machines

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A manipulator's safety control strategy based on fast continuous collision detection

A manipulator's safety control strategy based on fast contin...

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IEEE International Conference on robotics and Biomimetics

作者： Jing Xia Zainan Jiang Hong Liu Hegao Cai Guangxin Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479927456

In this paper we propose a strictly conservative and novel hybrid safety control strategy consisting of the pre-contact safety strategy and the post-contact safety strategy in order to provide safety guarantees and enable continuous motions. An optimal motion trajectory planning that limits jerk, acceleration and velocity of robot motion and can obtain a time optimal motion is introduced as post-contact safety strategy. The optimal motion trajectory planning can reduce the impact forces during occurring collision and keep high efficiency of manipulator and continuous motions. Then we describe a fast continuous collision detection as pre-contact safety strategy to avoid collision. The advantages of this method are that it can solve the tunneling problem and check the whole trajectory. Finally, the proposed hybrid safety control strategy has been implemented on a 7 degrees-of-freedom(DOF) humanoid manipulator, and the experimental results demonstrate the validity of the novel hybrid safety control strategy.

关键词： Safety Trajectory Manipulators Joints Acceleration Planning

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Structure design of a mobile jack robot

Structure design of a mobile jack robot

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International Conference on Information and Automation (ICIA)

作者： Xizhe Zang Yixiang Liu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479913329

A novel type of mobile jack robot is proposed in view of the fact that the traditional method of debris jacking up is usually inefficient and unsafe. The jack robot has two motion modes: fast motion mode in which the robot can drive in straight line, veer and climb with the use of crawler and crawling mode in which the robot can open narrow gaps and cultivate spaces under debris by itself to enable it to pass through. The step-shaped structure on the robot's head is able to insert into a 40 mm gap and expand it to 410 mm gradually, to make enough spaces for rescue teams and other rescue tools to save out survivors under debris. The robot can jack up 1000 kg load driven by a single-acting hydraulic cylinder which generates 101 kN force at rated pressure 70 MPa. Experiments are carried out to verify the validity of the proposed design.

关键词： Lifting equipment Robots Force Fasteners Finite element analysis Joining processes Dynamics

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Predictive Control for Visual Servo Stabilization of Nonholonomic Mobile Robots

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自动化学报 2013年第8期39卷 1238-1245页

作者： CAO Zheng-Cai YIN Long-Jie FU Yi-Li LIU Tian-Long College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China Key Laboratory of Embedded System and Service Computing Ministry of EducationTongji UniversityShanghai 201804China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China

活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳... 详细信息

活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳定的一个预兆的控制器被介绍。第一，利用产生速度的命令的一个运动学的预兆的稳定控制器被介绍。然后，来临以便 asymptotically 做活动机器人的实际速度到需要的，一个动态预兆的控制器被设计。建议预兆的控制器能容易处理限制。最后，几模拟被执行，并且结果说明建议控制计划是有效的解决视觉伺服稳定问题。

关键词：非完整移动机器人稳定化控制器预测控制器视觉伺服生成速度运动预测稳定问题控制方案

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Localization and Navigation of Intelligent Wheelchair in Dynamic Environments

Localization and Navigation of Intelligent Wheelchair in Dyn...

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2013年中国智能自动化学术会议

作者： Jingchuan Wang Juncheng Wang Weidong Chen Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China State Key Laboratory of Robotics and System(HIT)

An intelligent wheelchair JiaoLong with multi-mode is developed for the handicapped and the *** is designed of two manipulate modes according to the user's disability and the environments for *** on the dynamic localizability matrix,an improved particle filter localization algorithm is proposed in this *** results of experiments show the practicability of the system design and the effectiveness provided by the improved localization method.

关键词： Intelligent Wheelchair Control modes Localization Algorithm

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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