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A Mobile Robot Recognize Blurred Targets via an Improved Histogram Equalization

IOP Conference Series: Materials Science and Engineering 2020年第1期853卷

作者： Longzhi Zhang Dongmei Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Target recognition is a precondition for guiding robots to complete tasks. However, if the target is blurred, recognition will be difficult, which will lead to an inefficiency operation for robots. For the sake of improving the robot operation efficiency, it is essential to improve the image quality of recognized blurred target. Since image enhancement is taken as a powerful ways for improving image quality, it has gained largely attentions from researches. In fact, most of enhance methods are proposed based on histogram equalization, and until present, focus of research is still on improvements of histogram equalization. Hence, this paper proposes an improved histogram equalization for blurred targets in mobile robot recognition. Compared with the traditional histogram equalization methods, our method has less calculation time and better performance of real-time. Furthermore, the proposed approach also has strong robustness in blurred target recognition via a mobile robot.

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Two-layer structure predictive control of target tracking mode for dual time-scale system

Two-layer structure predictive control of target tracking mo...

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Chinese Automation Congress (CAC)

作者： Hongrui Wang Tao Zou Zhijia Yang Hongyu Zheng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Institute of Intelligent Manufacturing Huanghuai University Zhumadian China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In the dual time-scale system, the time for the fast and slow model to reach steady-state values is inconsistent. Based on the "point" model strategy of integral variables, this paper compares and analyzes the slow model variables with the integral variables and designs a two-layer structure predictive controller for the dual time-scale system under the model truncation. The steady-state optimization layer uses the step response characteristics of slow model variables to derive the multi-step controlled variable prediction values after the truncation point. Based on the improved displacement matrix, the error correction coefficient is modified by introducing an error compensation factor in the dynamic control layer to reduce the accumulated error of model truncation. Under the truncated dual time-scale system model, the improved strategy proposed in the paper can not only maintain the amount of calculation of the predictive control but also solve the problem that the steady-state target calculation is not accurate enough due to model mismatch. Finally, the elfectiveness of the improvement strategy is verified by simulation comparison.

关键词： Robots Optimized production technology Manufacturing Control systems Automation Target tracking Steady-state

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Brain-Computer Interface Design Using Signal Powers Extracted During Motor Imagery Tasks

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Chinese Journal of Biomedical Engineering(English Edition) 2011年第4期20卷 139-149页

作者： HE Ke-ren WANG Xin-guang ZOU Ling MA Zheng-hua School of Information Science ＆ Engineering at the Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoigy Harbin 150001 China

Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode and C4 electrode in left-right hands imagery movement during some periods of time. The reconstructed signal of approximation coefficient A6 on the 6al level was selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis with two different threshold calculation ways and Support Vector Machine methods were compared. The final classification results showed that false classification rate by Support Vector Machine was lower and gained an ideal classification results.

关键词： brain-computer interface motor imagery feature extraction pattern classification

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Design and Analysis of a Novel 3-DOF Deployable Grasping Mechanism

Design and Analysis of a Novel 3-DOF Deployable Grasping Mec...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Changqing Gao Hailin Huang Gang Yang Bing Li Ke Huang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Shenzhen Cansinga Technology Co. Ltd No.336 Baotianyi Rd. Baoan Shenzhen China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In this paper, a novel 3-DOF deployable grasping mechanism consisting of two fingers and a palmar mechanism is proposed, in which each finger is made up of a series of basic modules. Firstly, specific design of the grasping mechanism is introduced. In order to realize the deployment motion, two groups of scissor-shaped elements are used in design of basic module, special revolute joint of the scissor-shaped element is designed to form grasping angle when the basic module carries out deployment motion. Secondly, the grasping angle and the deploy/fold ratio are discussed, from which the method to adjust grasping angle is also proposed. Thirdly, kinematics and workspace of the proposed grasping mechanism are analyzed, analysis result shows that the proposed grasping mechanism has quite large reachable workspace. Fourthly, the shape adaptability and grasping simulation are conducted, in which four types of objects with different shapes are grasped by the proposed grasping mechanism. The results prove that the proposed grasping mechanism has good grasping performance.

关键词： Grasping Fingers Shape Kinematics Robots Research and development End effectors

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Study on Mechanical Properties of Dual-Channel Cryogenic 3d Printing Scaffold for Mandibular Defect Repair

SSRN

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SSRN 2023年

作者： Gao, Lilan Sun, Mengchao Liu, Jie Meng, Lulu Liu, Han Zheng, Xiongfei Liu, Hao Li, Ruixin Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300382 China Tianjin300382 China Beijing Friendship Hospital Capital Medical University 100050 China State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110017 China Tianjin Key Laboratory of Oral and Maxillofacial Function Reconstruction Tianjin Stomatological Hospital The Affiliated Stomatological Hospital of Nankai University Tianjin300041 China

Mandibular defect repair has always been a clinical challenge, facing technical bottleneck. The new materials directly affect technological breakthroughs in mandibular defect repair field. Our aim is to fabricate a scaffold for mandibular defect repairing with advanced biomaterials. Therefore, a novel dual-channel printed scaffold consisting of silk fibroin/collagen type I /hydroxyapatite (SCH) and polycaprolactone/hydroxyapatite (PCL/HA) was fabricated by 3D printing technology with double nozzles. The mechanical properties and behaviors of dual-channel printed scaffold were investigated by performing uniaxial compression, creep, stress relaxation and ratcheting experiments respectively. The experiments indicated the Young modulus of dual-channel printed scaffold was 60.1 kPa and dual-channel printed scaffold was typical nolinear viscoelastic consistent with bone tissue. Finite Element Analysis (FEA) was employed performing a numerical simulation to evaluate the implantation effect in mandible. The stress distribution of the contact area between scaffold and defect was uniform, the maximum Mises stress of cortical bone and cancellous bone in defect area were 54.52MPa and 3.196MPa, and the maximum displacement of cortical bone and cancellous bone in defect area were 0.1575mm and 0.1555mm, which were distributed in the incisor region. The peak value of the maximum Mises stress for the scaffold implanted was 3.128× MPa and the maximum displacement was 6.453×mm distributed near incisor area. The displacement distribution of the scaffold was consistent with that of cortical and cancellous bone. The scaffold recovered well when the force applied on it disappeared. Above all, dual-channel printed scaffold had excellent bio-mechanical properties in implanting mandible, which provides a new idea for the reconstruction of irregular bone defects in the mandible and has good clinical development prospects. © 2023, The Authors. All rights reserved.

关键词： 3D printing

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A Study on sEMG Simulation Modeling and Its Decomposition Methods

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Chinese Journal of Biomedical Engineering(English Edition) 2012年第1期21卷 1-11页

作者： ZOU Ling MA Xiao-juan RONG Hai-long School of Information Science & Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin 150001 China

In this paper, we establish a surface electromyography(sEMG) signal model and study the signal decomposition method from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential train(MUAPT) are simulated based on the tripolar signal source model, and then the sEMG is obtained; secondly, the simulated sEMG signal is extracted from the mixed signals that consists of white noises, power frequency interference signal and electrocardio signal by independent component analysis (ICA) algorithms; lastly, the spikes corresponding to each motor unit action potential from the simulated sEMG signals were detected by applying the wavelet transform (WT) method. Simulation results showed that sEMG model could describe the physiological process of sEMG, ICA and WT methods could extract the sEMG signal and its features, which will lay a foundation for further classifying the MUAP.

关键词： sEMG simulation recruitment and firing motor unit action potential independent component analysis wavelet transform

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A Novel Path Planning Approach with Bidirectional A* Algorithm Based on Road Characteristics

A Novel Path Planning Approach with Bidirectional A* Algorit...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Weihua Li Bowen Chen Pengpeng Li Xuewen Geng Jianfeng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Harbin Institute of Technology-Weihai Weihai China SGCC Smart Energy and Electric Transportation Technology Innovation Center (Suzhou) Co.Ltd. Suzhou China

ISBN: (纸本)9781665431545

The global path planning of a traditional A* algorithm is investigated to obtain the shortest path, which considers only the straight-line distance between grids without considering the effects of road slope and road resistance on the path distance and the energy consumption for ground vehicles. The heuristic function of shortest path based on road slope and the heuristic function of minimum energy consumption based on road resistance coefficient are respectively developed in this paper. Combining the two improvements, a novel comprehensive heuristic function is proposed in this paper. Through the distribution of weight coefficients between the shortest path and the minimum energy consumption, one more reasonable path can be obtained. In addition, a bidirectional A* search algorithm is also applied. The case studies validate that the improved A* search algorithm in this paper can generate a more reasonable path considering the distance and the energy consumption.

关键词： Resistance Energy consumption Mechatronics Roads Heuristic algorithms Machine vision Focusing

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Natural Gas Load Forecasting Based on Multi-Stage Model Identification

Natural Gas Load Forecasting Based on Multi-Stage Model Iden...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Pengbin Zhang Hongrui Wang Kunpeng Xing Mingzhe Yuan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China GUANGZHOU INSTITUTE OF INDUSTRIAL INTELLIGENCE Guangzhou China China Nuclear Power Engineering Co. Ltd. Shenzhen China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

Natural gas load forecasting is crucial for the safe operation of urban natural gas. Based on the system identification method, the short-term natural gas load forecasting is studied in the paper. Employing a multi-stage identification framework, the initial values of the model parameters using the least squares and the instrumental variables method, while the model parameters are further optimized by the prediction error method to improve the accuracy of the model identification. The proposed method is validated by the simulation based on the public natural gas data in the U.S., demonstrating the algorithm's effectiveness in forecasting the daily natural gas load effectively.

关键词： Load forecasting Simulation Load shedding Predictive models Prediction algorithms system identification Reliability Forecasting Natural gas Load modeling

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Planar Region Alignment based Visual Regulation for Mobile Robot

Planar Region Alignment based Visual Regulation for Mobile R...

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International Conference on Mechatronics and Automation

作者： Z. L. Wang Y. Liu B. G. Cai J. Zhao School of Electronic Information and Engineering Beijing Jiao Tong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467312752

It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24], Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation. Then a simple least square method for computing homography matrix H is introduced. The basic procedure of multistage motion estimation based on planar region alignment is summarized. In the second part, the kinematic model of monocular camera based mobile robot system is deduced with a constrained camera-robot configuration, the visual regulation control law is derived and the stability of the close loop system is analyzed in the sense of Lyapunov stability theory. The motion estimation experiment results are presented with real images, and simulation results show the convergence of the proposed visual regulation.

关键词： Region alignment Monocular vision Mobile robot Visual regulation Lypunov stability theory

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MRI-guided robot intervention—current state-of-the-art and new challenges

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Med-X 2023年第1期1卷 1-41页

作者： Huang, Shaoping Lou, Chuqian Zhou, Ying He, Zhao Jin, Xuejun Feng, Yuan Gao, Anzhu Yang, Guang-Zhong Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy (NERC-AMRT) Shanghai Jiao Tong University Shanghai China Materials and Technology Center of Robotics Empa Dübendorf Switzerland State Key Lab of Metal Matrix Composites and School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong University Shanghai China The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China

Magnetic Resonance Imaging (MRI) is now a widely used modality for providing multimodal, high-quality soft tissue contrast images with good spatiotemporal resolution but without subjecting patients to ionizing radiation. In addition to its diagnostic potential, its future theranostic value lies in its ability to provide MRI-guided robot intervention with combined structural and functional mapping, as well as integrated instrument localization, target recognition, and in situ, in vivo monitoring of the therapeutic efficacy. Areas of current applications include neurosurgery, breast biopsy, cardiovascular intervention, prostate biopsy and radiotherapy. Emerging applications in targeted drug delivery and MRI-guided chemoembolization are also being pursued. Whilst promising progress has been made in recent years, there are still significant basic science research and engineering challenges. This paper provides a comprehensive review of the current state-of-the-art in MRI-guided robot intervention and allied technologies in actuation, sensing, new materials, interventional instruments, and interactive/real-time MRI. Potential future research directions and new clinical developments are also discussed.

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