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2014 International Conference on Mechatronics and Intelligent Materials, MIM 2014

作者： Wang, Le Feng Chu, Zhao Qi Fan, Zeng Hua Rong, Wei Bin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9783038351412

Microparts transfer plays an important role in various micromanipulation and microassembly tasks. One typical way of microparts transfer is based on the pick-and-place method with a microgripper. Microparts have the potential risks to be damaged due to the local stress concentration when they are gripped and it is a great challenge to release them reliably due to adhesion forces at microscale. In this paper, a flexible and reliable pick-and-place transfer scheme with a capillary gripper is proposed and the principle of the transfer scheme is based on microdrop control. A series of simulations are also performed. For picking microparts, the simulation results show that meniscus can be adjusted by altering the interface pressure. For placing microparts, the controllable formation of microdrops shows the placing reliability. These results are helpful to further optimization and control of the proposed capillary gripper. © (2014) Trans Tech Publications, Switzerland.

关键词： Grippers

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Trajectory Tracking of Spasm-oriented Zebrafish Larvae 33

Trajectory Tracking of Spasm-oriented Zebrafish Larvae

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第三十三届中国控制会议

作者： GUO Jiayu ZHAO Shasha SHU Mao YAN Zhongguang SUN Mingzhu ZHAO Xin FENG Xizeng Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University State Key Laboratory of Medicinal Chemical Biology College of Life ScienceNankai University

ISBN: (纸本)9781479947249

As a vertebrate developmental biology model, zebrafish has been widely used in research fields of development, genetics, behavior and molecular biology recently [1]. In the field of drug research, researchers apply various ratios of drugs on zebrafish and determine the proper ratio of drugs by analyzing the behavior of the zebrafish. Trajectory tracking of the zebrafish is the first step of such research. Note that when being applied drugs such as antiepileptic drugs, the larvae will produce spasm [2], in which solution the larvae's speed is so high that its moving image will appear deformation and the larvae's color will be light and it is difficult to locate it. In this paper, we propose a method to locate the head and tail of zebrafish in static background by combining background reduction and frame differential method. Experimental results demonstrate that this method can detect the larvae accurately when it produces spasm. Then the larvae's two-dimensional trajectory is obtained. This method is of high accuracy, high-speed, and easy to implement.

关键词： Zebrafish,drug research,trajectory tracking,spasm,head and tail

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The design and kinematics analysis of an underactuated cable-truss mechanism

The design and kinematics analysis of an underactuated cable...

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2014 2nd International Forum on Mechanical and Material Engineering, IFMME 2014

作者： Wu, Nan Liu, Rong Qiang Guo, Hong Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9783038350798

Although underactuated mechanism has been widely studied in recent years, little information is available on that with cable-truss. An underactuated cable-truss mechanism was presented in this paper. This serial mechanism consists of five quadrilateral cable-truss units and moves by changing the length of the cables. It can be extended to large-scale spatial gripper and has advantages like light weight, simple structure and high reliability. This mechanism can capture the object without its precise position and shape. The kinematics analysis was discussed considering the characteristics of different ways to capture and a numerical example was given. The results of motion simulation corresponding with the example were shown to verify the correctness of the theoretical analysis. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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CFD-Based self-propulsion simulation for frog swimming

CFD-Based self-propulsion simulation for frog swimming

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作者： Fan, Jizhuang Zhang, Wei Zhu, Yanhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin China

Mechanism analysis of frog swimming is an interesting subject in the field of biofluid mechanics and bionics. Computing the hydrodynamic forces acting on a frog is difficult due to its characteristics of explosive propulsion and large range of joint motion. To analyze the flow around the body and vortices in the wake, in this paper, the method based on Computational Fluid Dynamics (CFD) was utilized to solve the velocity and pressure distributions in the flow field and on the frog. The hydrodynamic problem during the propulsive phase of a frog, Xenopus laevis, was calculated using the CFD software FLUENT. A self-propulsion simulation was performed which computed the body velocity from the joint trajectory input and CFD solved the hydrodynamic forces, and visual CFD results of the hydrodynamic forces and flow field structures were obtained. © 2014 World Scientific Publishing Company.

关键词： Computational fluid dynamics

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Design and analysis of an under-actuated self-adaptive mechanical hand

Design and analysis of an under-actuated self-adaptive mecha...

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2nd International Conference on Precision Mechanical Instruments and Measurement Technology, ICPMIMT 2014

作者： Xia, Yan Liu, Rong Qiang Guo, Hong Wei Deng, Zong Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9783038351948

A kind of under-actuated self-adaptive mechanical hand was developed in this paper. This mechanical hand consists of three 3-dof under-actuated fingers, and four motors are adopted to drive nine joints. The hand has self-adaptation to targets in different shapes and sizes and it can perform actions, such as folding, unfolding and grasping. In addition, a quasi-statics model of the 3-dof under-actuated finger was established in this paper. The relationship equation between the grasping forces and the driving and damping torques was obtained, and the influence of target size and driving torques on the grasping forces was also discussed. The results of the simulation analysis were shown to verify the correctness of the quasi-statics model. © (2014) Trans Tech Publications, Switzerland.

关键词： Mechanics

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Gene expression imputation across multiple brain regions provides insights into schizophrenia risk (vol 51, pg 659, 2019)

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NATURE GENETICS 2019年第6期51卷 1068-1068页

作者： Huckins, Laura M. Dobbyn, Amanda Ruderfer, Douglas M. Hoffman, Gabriel Wang, Weiqing Pardinas, Antonio F. Rajagopal, Veera M. Als, Thomas D. Nguyen, Hoang T. Girdhar, Kiran Boocock, James Roussos, Panos Fromer, Menachem Kramer, Robin Domenici, Enrico Gamazon, Eric R. Purcell, Shaun Demontis, Ditte Borglum, Anders D. Walters, James T. R. O'Donovan, Michael C. Sullivan, Patrick Owen, Michael J. Devlin, Bernie Sieberts, Solveig K. Cox, Nancy J. Im, Hae Kyung Sklar, Pamela Stahl, Eli A. Pamela Sklar Division of Psychiatric Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Genetics and Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Psychiatry Icahn School of Medicine at Mount Sinai New York NY USA Icahn Institute for Genomics and Multiscale Biology Icahn School of Medicine at Mount Sinai New York NY USA Vanderbilt University Medical Center Nashville TN USA MRC Centre for Neuropsychiatric Genetics and Genomics Cardiff University Cardiff UK Department of Biomedicine Aarhus University Aarhus Denmark The Lundbeck Foundation Initiative for Integrative Psychiatric Research iPSYCH Denmark Center for Integrative Sequencing Aarhus University Aarhus Denmark Department of Human Genetics David Geffen School of Medicine University of California Los Angeles Los Angeles CA USA Human Brain Collection Core National Institute of Mental Health Bethesda MD USA Laboratory of Neurogenomic Biomarkers Centre for Integrative Biology (CIBIO) University of Trento Trento Italy Clare Hall University of Cambridge Cambridge UK University of North Carolina at Chapel Hill Chapel Hill NC USA Karolinska Institutet Stockholm Sweden Department of Psychiatry University of Pittsburgh Pittsburgh PA USA Systems Biology Sage Bionetworks Seattle WA USA Section of Genetic Medicine Department of Medicine University of Chicago Chicago IL USA Integrated Technology Research Laboratories Pharmaceutical Research Division Takeda Pharmaceutical Company Limited Fujisawa Japan Neuropsychiatry Section Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Neuropsychiatric Signaling Program Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Psychiatry JJ Peters Virginia Medical Center Bronx NY USA Department of Neuroscience Icahn School of Medicine at Mount Sinai New York New York NY USA Friedman Brain Institute

Transcriptomic imputation approaches combine eQTL reference panels with large-scale genotype data in order to test associations between disease and gene expression. These genic associations could elucidate signals in complex genome-wide association study (GWAS) loci and may disentangle the role of different tissues in disease development. We used the largest eQTL reference panel for the dorso-lateral prefrontal cortex (DLPFC) to create a set of gene expression predictors and demonstrate their utility. We applied DLPFC and 12 GTEx-brain predictors to 40,299 schizophrenia cases and 65,264 matched controls for a large transcriptomic imputation study of schizophrenia. We identified 413 genic associations across 13 brain regions. Stepwise conditioning identified 67 non-MHC genes, of which 14 did not fall within previous GWAS loci. We identified 36 significantly enriched pathways, including hexosaminidase-A deficiency, and multiple porphyric disorder pathways. We investigated developmental expression patterns among the 67 non-MHC genes and identified specific groups of pre- and postnatal expression.

关键词： Gene expression Genome-wide association studies Schizophrenia Transcriptomics

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Research on automatic spraying of single-walled carbon nanotubes and detection of spraying effects

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International Journal of Smart and Nano Materials 2014年第2期5卷 86-98页

作者： Jianwen Zhao Jiangcheng Yu Junyang Niu Yong Ge Liwu Liu HIT at Weihai State Key Laboratory of Robotics and SystemSong Jian Research Institute of Building 2Wenhua Road(W)WeihaiShandong264209PR China

Single-walled carbon nanotubes(SWNTs)have been introduced as compliant electrodes for dielectric elastomers(DEs)due to fault *** acquire a better electrostrictive strain and longer lifetime,it is essential to obtain a certain and uniform width of the SWNT *** ensure uniform width manually,a small flux and longer time are ***,it is difficult to control the width of the electrode for the randomness of manual ***,a new type of automatic spraying process is presented in this *** width and homogeneity of the electrode can be easily controlled by certain parameters of the *** methods for detecting the homogeneity of the electrode are introduced in this paper:Measurement of surface resistance and *** coefficient of variation(CV)values detected by the two methods are virtually equal and less than 8%,which shows the feasibility of the detection method and homogeneity of automatic *** speed of automatic spraying is 102 mm^(2)/s,which is higher than that of manual *** spraying process and the method used to detect homogeneity in this paper provide a reference for the relevant processes.

关键词： single-wall carbon nanotube automatic spraying dielectric elastomer homogeneity detection

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Design of a prototype of an adaptive soft robot based on ferrofluid

Design of a prototype of an adaptive soft robot based on fer...

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IEEE International Conference on robotics and Biomimetics

作者： Bangxiang Chen Yanhe Zhu Jie Zhao Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781467396769

Soft robots have shown amazing moving ability through a variety of motion patterns including bending, contraction, extension and twisting, leading to an extraordinary adaptability to complex environments. Pneumatic actuators and SMA are already used to achieve the softness, new materials are still waiting to thrive the field. Ferrofluid is a kind of novel smart material which can be controlled by a gradient magnetic field. In this paper, the concept of a ferrofluid soft robot is introduced for the first time. A prototype called Soft-ball is designed to test the potential of the soft robot. Soft-ball is made by putting ferrofluid into a soft shell so that it provides both characteristics of ferrofluid and softness. It is tested that Soft-ball can alter shapes or change position with the gradient of the magnetic field. To investigate its performance on different environments, Soft-ball passes several obstacles of different shapes in a series of experiments. Eventually we demonstrate that the design has the potential of adaptability to complex environments.

关键词： extension twisting complex environments

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Design and analysis of a linear ultrasonic motor with composite bending and torsional vibration modes

Design and analysis of a linear ultrasonic motor with compos...

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作者： Wang, He Long Chen, Wei Shan Liu, Jun Kao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9783038351221

A new type linear ultrasonic motor using the second-order bending and the first-order torsional modes (2B-1T) is proposed. The ultrasonic motor has double driving feet and the continuous linear motions of sliders are realized by the frictional force between stator and sliders. In this new design, bending vibration is excited by d33 mode, which controls the preload pressure, and torsional vibration is excited by d15 mode, which generates the driving force. The elliptical motion trajectories of the double-driving feet are achieved when the phase difference of the two modes is 90° in time and space. The working principle of the ultrasonic motor using 2B-1T is simulated. After the parametric model of the stator is designed using ANSYS APDL, the sensitive analysis of structural parameters are gained with modal analysis and the characteristics and trajectories of driver feet are studied by transient analysis. These results can provide theoretical basis for the development of this new type ultrasonic motor. © (2014) Trans Tech Publications, Switzerland.

关键词： Stators

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Deployed profile synthesis of deployable Bricard mechanism

Deployed profile synthesis of deployable Bricard mechanism

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

作者： Hailin Huang Zhiyuan Yan Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong Province P. R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

This paper deals with the geometric design of the deployable mechanisms based on intuitive projective approach. Firstly, the deployed and folded configurations for the spatial single-loop polygon structure is defined. Secondary, two special planes, the deployed plane and the folded plane, are defined based on the deployed and the folded configurations respectively. Then the geometric parameters of the deployable mechanisms can be determined by projecting the joint axes onto the deployed plane and folded plane, following which we can obtain the relative position of the adjacent two joint axes in one link. By employing the Bricard mechanism as an example, we show the detailed design procedures of the proposed design methodology for the geometric design of the single-loop and multi-loop Bricard-based deployable mechanisms.

关键词： Joints Mathematical model Shape Bars Couplings Solid modeling Periodic structures

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