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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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3D ASM-based segmentation of the subcortical nucleus from volumetric MR images

3D ASM-based segmentation of the subcortical nucleus from vo...

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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 Gao, Wenpeng Xiao, Yongfei Wang, Shuguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780819478085

Delineation of the subcortical nucleus in MR images is prerequisite for advanced radiotheraphy, surgical planning and morphometric analysis. However, it is always difficult to implement such a complicated work. We proposed a novel framework of 3D active shape model (ASM) based segmentation of the subcortical nucleus in MR images. Firstly, the most representative one of all samples represented by the segmented MR volumes is selected as the template and triangulated to generate a triangulated surface mesh. Then, free form deformation is used to establish dense point correspondences between the template and the other samples. A set of consistent triangle meshes are obtained to build the model by a statistical analysis. To fit the model to a MR volume, the model is initialized with Talairach transformation and the edge map around the model is extracted using watershed transform. An algorithm of robust point matching is used to find a transformation matrix and model parameters to transpose the model near the target nucleus and match the model to the target nucleus, respectively. The proposed framework was tested on 18 brain MR volumes. The caudate, putamen, globus pallidus, thalamus, and hippocampus were selected as the objects. In comparison with manual segmentation, the accuracy (MeanSD) of the proposed framework is 0.900.04 for all objects. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Magnetic resonance imaging

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Path planning for minimizing base reaction of space robot and its ground experimental study

Path planning for minimizing base reaction of space robot an...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

作者： Wu, Jianwei Shi, Cai Wang, Bin Jiang, Zainan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Hei Longjiang Harbin 150001 China

ISBN: (纸本)9781424426935

In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint motion. This parameterization method can satisfy the kinematical constraints. The optimal object of base reaction is computed by inverse dynamics. In order to limit the joint velocity, an objective function including the constraint of joint velocity is defined. Genetic algorithm is introduced to solve the optimized problem, and the parameters for the minimum objective function value are found. The path planned is very smooth, and it can be applied in practical. According to the experiment on the zero gravity system, the effectiveness of the algorithm is proved. ©2009 IEEE.

关键词： Genetic algorithms

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A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

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Journal of Measurement Science and Instrumentation 2010年第3期000卷

作者： Guo-tai JIAO Feng WANG Dong-ze QIN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Mechatronics Engineering North University of China Taiyuan030051 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Robotics Research Center North University of China Taiyuan 030051 China College of Mechatronics Engineering North University of China Taiyuan030051 China

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed: fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

关键词： multi-hop wireless communication underground search and rescue robot

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A mobile self-reconfigurable robot based on modularity

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High Technology Letters 2009年第1期15卷 26-31页

作者：钟鸣 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.

关键词： self-reconfigurable robot mobility modularity docking

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