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Erratum to: Notice of Modification

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Journal of Bionic Engineering 2010年第1期7卷 112-112页

作者： Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

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Factors governing heat affected zone during wire bonding

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Transactions of Nonferrous Metals Society of China 2009年第S02期19卷 490-494页

作者： SUN Li-ning LIU Yue-tao LIU Yan-jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Mechanical Engineering Shandong University of TechnologyZibo 255049China

In the wire bonding process of microelectronic packaging,heat affect zone(HAZ)is an important factor governing the loop profile of *** height of loop is affected by the length of the *** governing the HAZ were *** investigate this relationship,experiments were done for various sizes of wire and free air ball(FAB).Electric flame-off(EFO)current, EFO time,EFO gap and recrystallization were also *** results show that as the size of FAB becomes larger,the length of HAZ *** the increase of EFO current and time,the length of HAZ becomes *** FAB forms at the same parameter the length of HAZ becomes shorter with the high temperature of recrystallization.

关键词： heat affected zone wire bonding electric flame off free air ball

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Theoretical analysis and experimental study of ultrasonic vibration microdissection technology

Theoretical analysis and experimental study of ultrasonic vi...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

作者： Chen, Liguo Liu, Yaxin Chen, Tao Sun, Lining State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781424426935

Molecular techniques are transforming our understanding of cellular function and the origin of disease. However, accurate molecular analysis methods will be limited if the input DNA, RNA, or protein is not derived from pure population of cells or is contaminated by the wrong cells. So a novel Ultrasonic Vibration Microdissection (UVM) method was proposed to procure pure population of targeted cells from tissue sections for subsequent analysis. In the last two years, an ultrasonic vibration microdissection system for molecular analysis of tissue had been developed in our laboratory. In this system, a multilayer piezoelectric actuator is used to actuate a sharp microneedle vibrating with high frequency and low amplitude to cut the tissue. In this paper, we focus on the ultrasonic vibration microdissection principle and various parameters on the impact of cutting effect. It is helpful for setting the system parameters, thus as vibration amplitude and frequency, properly to get the ideal cutting effect. Finally, contrast experiments were carried out, and the experiment results show agreement with the analyses results. It indicates that the embedded tissue can be quickly and precisely cut with the ultrasonic vibration microdissection method under the proper parameters. ©2009 IEEE.

关键词： Microdissection

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The anthropomorphic design and experiments of HIT/DLR five-fingered dexterous hand

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High Technology Letters 2009年第3期15卷 239-244页

作者：樊绍巍 Liu Yiwei Jin Minghe Lan Tian Liu Hong State Key laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Institute of Robotics and Mechatronic German Aerospace Center Wessling DLR 82230 Germany

This paper presents a new developed anthropomorphic robot dexterous hand： HIT/DLR Hand II. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degree of freedom （DOFs） and four joints. All the actuators and electronics are integrated in the finger body and the palm. Owing to using a new actuator, drivers and a novel arrangement, both the length and width of the finger is about two third of its formner version. By using the wire coupling mecha- nism, the distal phalanx transmission ratio is kept exactly 1 ： 1 in the whole movement range. The packing mechanism which is implemented directly in the finger body and palm not only reduces the size of whole hand but also make it more anthropomorphic. Additionally, the new designed force/torque and position sensors are integrated in the hand for increasing muhisensory capability. To evaluate the performances of the finger mechanism, the position and impedance control experiments are conducted.

关键词： anthropomorphic hand wire coupling mechanism packing mechanism multisensory capability

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Collision detection of flexible joint manipulator by using joint torque sensors

Collision detection of flexible joint manipulator by using j...

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2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

作者： Jinjun, Xia Zongwu, Xie Honggen, Fang Tian, Lan Jianbin, Huang Hong, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781424428533

In this paper, we discuss a collision detection approach which enables the flexible joint manipulator to work safely in an unstructured environment. By using joint torque sensors, a novel Cartesian impedance control law is proposed to implement the compliance control at first;then adaptive dynamics joint controller is extended to all the joints for achieving precision control performance;furthermore, a Cartesian force-feedback path generation is developed for collision detection. The proposed approach simplifies application to the manipulator, keeps the manipulation friendly to the environment, and rigorously guarantees the asymptotical stability of the entire system. The experimental results illustrate the validity of the developed collision detection and planning scheme. ©2009 IEEE.

关键词： Compliance control

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A method of target recognition from remote sensing images

A method of target recognition from remote sensing images

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 2009

作者： Fu, Yili Xing, Kun Han, Xianwei Wang, Shuguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424438044

According to the characteristics of airfield and harbor from remote sensing images, a method of large target recognition based on the combination of target region and shape features is presented. First, edge detection and improved Hough transform are used to select line segments, the region including regular-array line segments in image is considered as region of interesting (ROI). ROI detection is the base for recognition. Target geometry shape is extracted from ROI using optimum threshold segmentation, which removes location effect and improves efficiency. As calculating shape principal orientations, all shapes are rotated to the same horizontally right to avoid rotation effect. The features extracted from shape implement multi-levels representation with moment features, normalized moment of inertia, length-width ratio and compact ration. Finally, feature vectors are normalized to measure similarity between target and template. Experiments show that target regions can be located accurately using ROI detection and it is effective for target recognition. Besides, the extracted features have good invariability with respect to rotation, translation and scaling, and they comprise local and overall consistency of the target, therefore, the recognition results meet expectations well. © 2009 IEEE.

关键词： Hough transforms

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Study on turning in place of a spherical robot based on stick-slip principle

Study on turning in place of a spherical robot based on stic...

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2009 IEEE International Conference on robotics and Biomimetics, ROBIO 2009

作者： Zhao, Bo Wang, Pengfei Hu, Haiyan Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424447756

The paper deals with the motion of turning in place of a spherical robot for military reconnaissance and unknown environment exploration developed by us. The robot belongs to a nonholonomic and under-actuated system. The robot has 3 DOF and 2 inputs. The motion of turning in place can make a spherical robot with higher dexterity and environmental adaptability. The mathematical model of the turning motion is established by theory of moment of momentum. The relationship between the motion parameters is deduced, which is the basis of motion simulation and control system. Based on the analysis of mathematical model, a stick-slip principle is proposed for turning in place of the robot which is driven by double ballast masses. The stick-slip process is divided to three stages which are interpreted in theory. The principle is verified by numerical simulation and prototype experiment. The results confirm the effectiveness of the principle. The errors between theoretical analysis and experiment are analyzed at last. © 2009 IEEE.

关键词： Stick-slip

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Design of a novel snake-like robotic colonoscope

Design of a novel snake-like robotic colonoscope

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2009 IEEE International Conference on robotics and Biomimetics, ROBIO 2009

作者： Hu, Haiyan Wang, Pengfei Zhao, Bo Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424447756

The colonoscope is an important surgical tool to diagnose various colon diseases. However, the conventional colonoscope usually causes the patient a great deal of discomfort and pain. In order to develop a colonoscope for less discomfort of the patient and less demanding operation techniques of the doctor, a novel snake-like robotic colonoscope is proposed in this paper. This robotic colonoscope adopts a kind of continuum structure which features continuously deformable backbone as opposed to the traditional robot featuring rigid links and identifiable rotational joints. The robotic colonoscope is 600mm in total length and 12mm in diameter that is less than the average diameter of human colon. The robotic colonoscope is divided to five sections, and each driven remotely by two DC servo motors through cables. Thus, each section of the robotic colonoscope has 2 DOF (Degrees of Freedom) and the robotic colonoscope has a total of 10 DOF. The mechanical structure, kinematics and DSP-based control system are presented. The workspace simulation and prototype experiments are carried out to verify the kinematics and show the motion performance. © 2009 IEEE.

关键词： Control systems

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A self-adjusted precise liquid handling system

A self-adjusted precise liquid handling system

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2009 IEEE International Conference on robotics and Automation, ICRA '09

作者： Liu, Yaxin Liguo, Chen Sun, Lining Rong, Weibin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781424427895

In biomedical areas, such as protein crystallization, drug discovery and medical diagnostics, thousands of reagents with different viscosities need to be transferred or dispensed in submicroliter range. Most of the commercial automated liquid dispensing systems need to be calibrated through experiment to accurately dispense liquids when the reagents viscosities change, which is time consuming and less accurate. In this paper, an intelligent precise liquid handling system was developed, in which A high speed MEMS flow sensor was used. Benefiting from the feedback of sensor information, the system can self-adjust the open time of the solenoid vale to accurately dispensing desired reagent volume without pre-calibration. Firstly, the system construction was introduced in detail. Secondly, a novel closed-loop control strategy was proposed to calculate valve open-time for each dispensing cycle, which makes the system immune to liquid viscosity, pressure fluctuation and some other disturbances. Finally, experiments results are presented with different dispensing volumes, coefficient of variance (CV) has been shown to be below 3% at 1l and approach 4% at 100 nl. © 2009 IEEE.

关键词： Diagnosis

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Automatic extraction of the midsagittal plane from volumetric magnetic resonance images

Automatic extraction of the midsagittal plane from volumetri...

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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 Zhang, Guangcai Wang, Shuguo Gao, Wenpeng Liu, Hao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780819478085

A novel method is presented to automatically extract the midsagittal plane (MSP) from volumetric MR images. The MSP which generally approximates the interhemispheric fissure is the plane separating both hemispheres. It is meaningful for the brain segmentation, registration, quantification and pathology detection especially in Talairach space. The algorithm works based on the theory of the symmetry principal axis, the local searching method and minimizing the local symmetry coefficient. The proposed algorithm is validated on 20 T2-weighted MR data sets, which indicates that a clear MSP image can be extracted in the presence of relatively bigger distance error or angular deviation. This fully automatic algorithm is potentially useful in the clinical application and for research. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Magnetic resonance

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