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Beijing Keji Daxue Xuebao/Journal of University of Science and Technology Beijing 2012年第1期34卷 31-36页

作者： Wang, Fei Wen, Shi-Guang Zhang, Yu-Zhong Kim, Ki-Jun Wu, Cheng-Dong State Key Laboratory of Integrated Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A general scheme for the automated classification of gait patterns based on time-frequency analysis was proposed to discriminate acceleration signals characterized by high dimension, non-linearity, strong coupling and high time-varying acquired under different terrains and motion patterns of lower limbs. A three-axis acceleration sensor was mounted on a crus to acquire acceleration signals in the sagittal, coronal and cross-sectional planes separately. By using a 5-order Daubechies wavelet base, the features were extracted from time-series acceleration signals and further dimensionally reduced by employing linear discrimination analysis (LDA). The reduced features were classified by the decision tree and the support vector machine (SVM). From experimental results, both classifiers can achieve the high classification accuracy ratio over 90% and for the specified gait the ratio can be up to 100%, indicating the rationality and effectiveness of the proposed methods for feature extraction and dimension reduction.

关键词： Support vector machines

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Research on ZnO nanowire manipulation method in scanning electron microscope

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ICIC Express Letters, Part B: Applications 2012年第5期3卷 1077-1084页

作者： Li, Dongjie Wang, Jinyu You, Bo Rong, Weibin Zou, Jiaou School of Automation Harbin University of Science and Technology No. 52 Xuefu Road Nangang Dist. Harbin 150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China

In order to realize nano-component manipulation, the contacting mechanism and operating methods during ZnO nanowire manipulation process are researched both in theory and experiments in scanning electron microscope (SEM). Models of manipulation objects are built in nano scale combined with tribology. The adhesion phenomenon and influence of manipulation angle and point are analyzed according to the simulation results and experiments. Then, method of moving ZnO nanowire by fixed operating angle and suitable operating point is proposed. At the same time, the influence of operating distance and the roughness of the substrate are analyzed. Finally, experiments of ZnO nanowire moving, positioning and picking up are carried out with the new method. © 2012 ICIC International.

关键词： Scanning electron microscopy

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Design of a spherical robot based on novel double ballast masses principle

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高技术通讯（英文版） 2011年第2期17卷 180-185页

作者： Zhao Bo Wang Pengfei Hu Haiyan Sun Lining State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

A spherical robot based on a novel double ballast masses principle is developed for military re-connaissance and unknown environment *** robot is driven by two DC motors,each of which drives one ballast mass,and the two ballast masses are placed symmnetrically on the major *** with the traditional ballast mass principle,the robot has featured high speed,the abil-ity of slope climbing and obstacle overcoming in linear *** robot has two inputs and three DOF,which is a nonholonomic and underactuated *** dynamic model of the robot is con-structed,and the linear motion performance of robot in theory is proved by Adams *** control system is briefly introduced,and the performance of the prototype is tested by experiments at last.

关键词： spherical robot double ballast masses dynamic model

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New self-calibration approach to space robots based on hand-eye vision

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Journal of Central South University 2011年第4期18卷 1087-1096页

作者：刘宇刘宏倪风雷徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

To overcome the influence of on-orbit extreme temperature environment on the tool pose(position and orientation) accuracy of a space robot,a new self-calibration method based on a measurement camera(hand-eye vision) attached to its end-effector was *** the relative pose errors between the two adjacent calibration positions of the space robot,the cost function of the calibration was built,which was different from the conventional calibration *** particle swarm optimization algorithm(PSO) was used to optimize the function to realize the geometrical parameter identification of the space *** above calibration method was carried out through self-calibration simulation of a six-DOF space robot whose end-effector was equipped with hand-eye *** results showed that after calibration there was a significant improvement of tool pose accuracy in a set of independent reference positions,which verified the feasibility of the *** the same time,because it was unnecessary for this method to know the transformation matrix from the robot base to the calibration plate,it reduced the complexity of calibration model and shortened the error propagation chain,which benefited to improve the calibration accuracy.

关键词： space robot self-calibration cost function hand-eye vision particle swarm optimization algorithm

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Single-trial evoked potential estimation using an adaptive wavelet method

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ICIC Express Letters 2012年第9期6卷 2377-2382页

作者： Wang, Yongxuan Qiu, Tianshuang Liu, Rong Faculty of Electronic Information and Electrical Engineering Dalian University of Technology No. 2 Linggong Road Ganjingzi District Dalian 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Dazhi Street Nangang District Harbin 150001 China

To estimate a signal from colored noises is a challenging problem because of the frequency overlap as well as the low signal-to-noise (SNR). In this paper, a novel adaptive wavelet method based on pre-whitening of colored EEG noises for single-trial evoked potential (EP) estimation is proposed. This method does not require prior information about the EPs. In particular, an adaptive weighted thresholding method is formulated using the least-mean-square error (LMSE) scheme to avoid manual selection of wavelet coefficients. For validation purposes, the proposed algorithm is assessed in its ability to extract brain EP corrupted by the colored EEG noises in which SNR values can be as low as -10 dB in real clinical environments. The experimental results show that this algorithm can successfully estimate dynamic changes in EPs, even under poor signal-to-noise ratio (SNR) conditions. © 2012 ICIC International.

关键词： Signal to noise ratio

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Mobile robot path planning method combined improved artificial potential field with optimization algorithm

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High Technology Letters 2011年第2期17卷 160-165页

作者：赵杰 Yu Zhenzhong Yan Jihong Gao Yongsheng Chen Zhifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model （IAPFM） was established, then a new path planning method combining the IAPFM with optimization algorithm （trust region algorithm） is proposed. Attractive force between the robot and the target location, and repulsive force between the robot and the obstacles are both converted to the potential field intensity; and filled potential field is used to guide the robot to go out of the local minimum points ; on this basis, the effect of dynamic obstacles velocity and the robot＇s velocity is consid thers and the IAPFM is established, then both the expressions of the attractive potential field and the repulsive potential field are obtained. The trust region algorithm is used to search the minimum value of the sum of all the potential field inten- sities within the movement scope which the robot can arrive in a sampling period. Connecting of all the points which hare the minimum intensity in every sampling period constitutes the global optimization path. Experiment result shows that the method can meet the real-time requirement, and is able to execute the mobile robot path planning task effectively in the dynamic environment.

关键词： trust region optimization algorithm path planning artificial potential field mobile robot potential field intensity

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Running control of a quadruped robot in trotting gait

Running control of a quadruped robot in trotting gait

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Jiang, Zhenyu Li, Mantian Guo, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

In this work, a quadruped robot designed for trotting gait with compliant leg is proposed. Based on the Spring-Loaded Inverted Pendulum model (SLIP), simplified models of different degrees of freedom (DOF) of the robot body are constructed. Under the analysis of the dynamics model, a simple running control method was implemented to decouple six DOF of the body, which requires minimal task level feedback and only controls the leg torque and touch down angle. In simulation this control method successfully executes on robot running from stationary to a constant speed when climbing up or down slope with well regulated pitching, rolling and yawing motions. Additionally, a prototype robot is constructed, and the control method is verified by prototype experiment in the sagittal plane. © 2011 IEEE.

关键词： Degrees of freedom (mechanics)

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Touchdown angle's impact on bounding gait of the quadrupeds

Touchdown angle's impact on bounding gait of the quadrupeds

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Wang, Haowei Wang, Pengfei Wang, Xin Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

The study of touchdown angle's impact on quadrupeds such as gait, stability, speed, height is valuable. This paper unifies two common models for quadrupeds-SLIP and planar model, gets a feasible and efficient fixed point search strategy, and proposes a gait classification method based on the event sequence. On this basis, we study the influence of touchdown angle on quadruped robot in a variety of energy levels, and find that the change of touchdown angle would cause cycle bifurcation and chaos phenomena. Meanwhile, we notice in certain energy level and reasonable parameters configuration, different touchdown angles mean different gaits and only change of touchdown angle can make gait transition. In a fixed energy level, the impact of touchdown angle on horizontal speed, apex height and pitch angle is not obvious, but for pitch angular velocity it has obvious effect, and we reveal the importance of pitch angle and related variables such as inertia, mass distribution for quadruped control. Under the meaning of stable fixed points, speed adjust by changing touchdown angle is of little effect;however energy control is a feasible method. © 2011 IEEE.

关键词： Angular distribution

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PET/CT/MRI image fusion based on mobile robot

PET/CT/MRI image fusion based on mobile robot

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2011 4th International Conference on Biomedical Engineering and Informatics, BMEI 2011

作者： Wang, Weidong Wu, Dongmei Dong, Wei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Robotics Institute Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424493524

A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. Third, the process of PET/MRI image fusion based on transformational matrix is presented, and the matrix are calculated by the sensors message. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely. © 2011 IEEE.

关键词： Image fusion

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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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