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Simulation platform of monitoring and tracking micro system for dangerous chemicals transportation

Journal of Networks 2013年第2期8卷 477-484页

作者： Hu, Haiyan Wang, Pengfei Sun, Lining School of Mechanical and Electric Engineering Soochow University Suzhou China State Key Laboratory of Robotic and System Harbin Institute of Technology Harbin China

Real test method of monitoring and tracking micro system for dangerous chemicals transportation has many disadvantages: long test cycle, high test cost, high test risk and bad reproducibility. Aimed at these disadvantages, a simulation platform which can be used for the simulation test of monitoring and tracking micro system is developed. This simulation platform is composed of motion simulator and simulation environment. The motion simulator is a kind of parallel robot with Hexaglide structure and has a total of 8 degrees of freedom (DOF). This parallel simulator cannot only realize the motion simulation of yaw, pitch and roll, but also provide pure linear motion in the Y direction, which is significant for the acceleration or deceleration simulation. The simulation environment is developed with a sealed cavity, in which a steel tank is used to simulate the tanker for dangerous chemicals transportation. The environment parameters such as temperature, humidity, concentration of combustible gas, the pressure and liquid level in tank can be measured and changed. Based on the motion simulator and the simulation environment, motion parameters such as position, attitude, angular rate, velocity and acceleration and the environment parameters can be measured simultaneously by micro system and standard sensors. With the comparison of these measured data, the micro system can be validated. This simulation platform provides a good test method for the monitoring and tracking micro system and has important significance for dangerous chemicals transportation. © 2013 ACADEMY PUBLISHER.

关键词： Chemicals

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The apposite way path planning algorithm based on local message

The apposite way path planning algorithm based on local mess...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Jie Zhou, Zi-Wei Li, Ge Li, Chang-Le Zhang, He Xu, Wang-Bao State Key Laboratory of Robotic and System Harbin Institute of Technology Harbin Heilongjiang Province China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan Liaoning Province China

ISBN: (纸本)9781467312776

According to the problems of autonomous robotic navigation in complex environments, an opposite way path planning algorithm and a novel robot controller based on inertial property is proposed. Firstly, the opposite way path planning algorithm getting the local obstacle message through robot, according to the known obstacles a optimal path calculated which can carries the robot to get to the ultimate target. Secondly, a robot controller based on attractive force function and repulsive force function is designed. The controller can keep the robot away from the obstacle, and escape from the local minima when the robot is blocked by obstacle. The simulation results show that this method has a better optimization result than other common methods such as bug and artificial potential field. © 2012 IEEE.

关键词： Motion planning

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CFD analysis of ducted-fan UAV based on Magnus effect

CFD analysis of ducted-fan UAV based on Magnus effect

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Jie Hou, Qingming Jin, Hongzhe Zhu, Yanhe Li, Ge State Key Laboratory of Robotic and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

Uninhabited Aerial Vehicle(UAV) has been developed quickly for decades and a new kind of VTOL(Vertical Take-Off and Landing)UAV which is called Ducted-Fan Uninhabited Aerial Vehicle attracts more and more attention. This paper presents a new structure of the ducted-fan UAV. In this vehicle, the actuator system consists of four rotary cylinders which are symmetrically installed at bottom of inside duct. The force used for attitude stabilization is generated by the interaction between the surface of cylinder and the downwash, which is known as Magnus effect. In this paper, the aerodynamic characteristics of propeller-wing interaction for the ducted fan UAV were simulated numerically based on the Computational Fluid Dynamics (CFD) by means of sliding mesh technology. © 2012 IEEE.

关键词： Computational fluid dynamics

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Erratum to: Antimicrobials: a global alliance for optimizing their rational use in intra-abdominal infections (AGORA)

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World journal of emergency surgery : WJES 2017年第1期12卷 35页

作者： M Sartelli D G Weber E Ruppé M Bassetti B J Wright L Ansaloni F Catena F Coccolini F M Abu-Zidan R Coimbra E E Moore F A Moore R V Maier J J De Waele A W Kirkpatrick E A Griffiths C Eckmann A J Brink J E Mazuski A K May R G Sawyer D Mertz P Montravers A Kumar J A Roberts J L Vincent R R Watkins W Lowman B Spellberg I J Abbott A K Adesunkanmi S Al-Dahir M N Al-Hasan F Agresta A A Althani S Ansari R Ansumana G Augustin M Bala Z J Balogh O Baraket A Bhangu M A Beltrán M Bernhard W L Biffl M A Boermeester S M Brecher J R Cherry-Bukowiec O R Buyne M A Cainzos K A Cairns A Camacho-Ortiz S J Chandy A Che Jusoh A Chichom-Mefire C Colijn F Corcione Y Cui D Curcio S Delibegovic Z Demetrashvili B De Simone S Dhingra J J Diaz I Di Carlo A Dillip S Di Saverio M P Doyle G Dorj A Dogjani H Dupont S R Eachempati M A Enani V N Egiev M M Elmangory P Ferrada J R Fitchett G P Fraga N Guessennd H Giamarellou W Ghnnam G Gkiokas S R Goldberg C A Gomes H Gomi M Guzmán-Blanco M Haque S Hansen A Hecker W R Heizmann T Herzog A M Hodonou S K Hong R Kafka-Ritsch L J Kaplan G Kapoor A Karamarkovic M G Kees J Kenig R Kiguba P K Kim Y Kluger V Khokha K Koike K Y Kok V Kong M C Knox K Inaba A Isik K Iskandar R R Ivatury M Labbate F M Labricciosa P F Laterre R Latifi J G Lee Y R Lee M Leone A Leppaniemi Y Li S Y Liang T Loho M Maegele S Malama H E Marei I Martin-Loeches S Marwah A Massele M McFarlane R B Melo I Negoi D P Nicolau C E Nord R Ofori-Asenso A H Omari C A Ordonez M Ouadii G A Pereira Júnior D Piazza G Pupelis T M Rawson M Rems S Rizoli C Rocha B Sakakushev M Sanchez-Garcia N Sato H A Segovia Lohse G Sganga B Siribumrungwong V G Shelat K Soreide R Soto P Talving J V Tilsed J F Timsit G Trueba N T Trung J Ulrych H van Goor A Vereczkei R S Vohra I Wani W Uhl Y Xiao K C Yuan S K Zachariah J R Zahar T L Zakrison A Corcione R M Melotti C Viscoli P Viale Department of Surgery Macerata Hospital Via Santa Lucia 2 62100 Macerata Italy. Department of Trauma Surgery Royal Perth Hospital Perth Australia. Genomic Research Laboratory Geneva University Hospitals Geneva Switzerland. Infectious Diseases Division Santa Maria Misericordia University Hospital Udine Italy. Department of Emergency Medicine and Surgery Stony Brook University School of Medicine Stony Brook NY USA. General Surgery Department Papa Giovanni XXIII Hospital Bergamo Italy. Department of General Maggiore Hospital Parma Italy. Department of Surgery "Infermi" Hospital Rimini Italy. Department of Surgery College of Medicine and Health Sciences UAE University Al-Ain United Arab Emirates. Department of Surgery UC San Diego Medical Center San Diego USA. Department of Surgery University of Colorado Denver Health Medical Center Denver CO USA. Department of Surgery Division of Acute Care Surgery and Center for Sepsis and Critical Illness Research University of Florida College of Medicine Gainesville FL USA. Department of Surgery University of Washington Seattle WA USA. Department of Critical Care Medicine Ghent University Hospital Ghent Belgium. General Acute Care and Trauma Surgery Foothills Medical Centre Calgary AB Canada. General and Upper GI Surgery Queen Elizabeth Hospital Birmingham UK. Department of General Visceral and Thoracic Surgery Klinikum Peine Academic Hospital of Medical University Hannover Peine Germany. Department of Clinical microbiology Ampath National Laboratory Services Milpark Hospital Johannesburg South Africa. Department of Surgery School of Medicine Washington University in Saint Louis Saint Louis MO USA. Departments of Surgery and Anesthesiology Division of Trauma and Surgical Critical Care Vanderbilt University Medical Center Nashville TN USA. Department of Surgery University of Virginia Health System Charlottesville VA USA. Departments of Medicine Clinical Epidemiology and Biostatistics and Pathology and Mo

[This corrects the article DOI: 10.1186/s13017-016-0089-y.].

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The design of fast global optimal algorithm based on new binocular device

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Advances in Information Sciences and Service Sciences 2012年第18期4卷 238-247页

作者： Zhou, Ziwei Li, Ge Zhao, Jie State Key Laboratory of Robotic and System Harbin Institute of Technology Harbin 114002 China School of Electronics and Information Liaoning University of Science and Technology Anshan 114002 China

In the research of binocular vision matching algorithm, the high qualitative disparity space image could be acquired using global optimization algorithm, such as Belief Propagation or Graph Cuts. However, these global optimization algorithms are time-consuming and the matching time is usually up to 10-30 seconds, which is difficult to apply in practice environments. The dynamic programming algorithm is one of the global optimization algorithms, which have relative fast matching speed, but it has strip blemish in matching result. A new matching method based on dynamic programming is proposed to accelerate the matching speed and improve the matching quality. First, the edges of the image pair are calculated using optimal operator, then the edge points of the image pair are matched, so a scan-line is cut into several short line segments by the edge points, Secondly, the corresponding line segments are matched using dynamic programming method. Finally, all line segments are matched to obtain the disparity of a scan-line, and the whole disparity space image is acquired for matching of every scan-line, because of decreasing the length of the candidate line segments, the total matching time is reduced significantly. The experimental results indicate that the matching speed is accelerated greatly with better disparity image quality.

关键词： Edge detection

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The cold rolling strip surface defect on-line inspection system based on machine vision

The cold rolling strip surface defect on-line inspection sys...

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2010 2nd Pacific-Asia Conference on Circuits, Communications and system, PACCS 2010

作者： Zhao, Jie Yang, Yongmin Li, Ge State Key Laboratory of Robotic and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424479689

In order to inspect the cold rolling strip main surface defects in while product line running normally and control manufacturing process more efficiently, a novel cold rolling strip surface defect on-line inspection system is designed. Modularization design idea is adopted, the whole system is made up of light source module, image collection module, defect image processing module and server module. For making sure real-time characteristics of the system, high-speed linear CCD camera and relational high-speed fiber image collection card, high-speed FPGA image processing card designed by ourselves are adopted in hardware, RT-Linux real-time operation system is adopted in software. Aiming at low contrast and high noise of defect image, homomorphic filtering algorithm based on PDE is proposed for image preprocess;considering of the exist of defect image transition region, image segmentation algorithm based fuzzy-set and information entropy theory is adopted to accomplish defect abstraction. Based on these, kinds of features of defect are extracted, the defect classification based on fuzzy support vector machine is designed and classification experiment is finished, better classification effect is obtained. © 2010 IEEE.

关键词： Surface defects

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The cold rolling strip surface defect on-line inspection system based on machine vision

The cold rolling strip surface defect on-line inspection sys...

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Pacific-Asia Conference on Circuits, Communications and systems, PACCS

作者： Jie Zhao Yongmin Yang Ge Li State Key Laboratory of Robotic and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424479689

In order to inspect the cold rolling strip main surface defects in while product line running normally and control manufacturing process more efficiently, a novel cold rolling strip surface defect on-line inspection system is designed. Modularization design idea is adopted, the whole system is made up of light source module, image collection module, defect image processing module and server module. For making sure real-time characteristics of the system, high-speed linear CCD camera and relational high-speed fiber image collection card, high-speed FPGA image processing card designed by ourselves are adopted in hardware, RT-Linux real-time operation system is adopted in software. Aiming at low contrast and high noise of defect image, homomorphic filtering algorithm based on PDE is proposed for image preprocess; considering of the exist of defect image transition region, image segmentation algorithm based fuzzy-set and information entropy theory is adopted to accomplish defect abstraction. Based on these, kinds of features of defect are extracted, the defect classification based on fuzzy support vector machine is designed and classification experiment is finished, better classification effect is obtained.

关键词： OWL Field programmable gate arrays Hardware

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An adaptive modeling approach based on ESN for robotic belt grinding

An adaptive modeling approach based on ESN for robotic belt ...

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International Conference on Information and Automation (ICIA)

作者： Hongbo Lv Yixu Song Peifa Jia Zhongxue Gan Lizhe Qi State Key Laboratory of Intelligent Technology and System Tsinghua National Laboratory for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing China Inter Smart Robotic Systems Company Limited Langfang Hebei China

ISBN: (纸本)9781424457014

robotic belt grinding system has good prospect to release hand-grinder from their dirty and noisy working environment. However, as a kind of non-rigid processing system, it is a challenge to model its processes precisely for free-form surface because its performance is unstable due to a variety of factors, such as belt wear and belt replacement. In order to adapt to the variability, an adaptive modeling approach based on echo state network (ESN) is presented, whose major idea is to exhaust information from new data by using sliding window technique to select training samples. With machine learning paradigm this approach is more flexible than traditional ones which often base on formula and experimental curves. Experimental results of grinding turbine blades demonstrate this approach is workable and effective.

关键词： Belts Service robots Computational geometry robotics and automation Intelligent robots Turbines Blades Mobile robots Working environment noise Grinding machines

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Notice of Retraction: An adaptive SVR modeling method based on VFS for robotic grinding

Notice of Retraction: An adaptive SVR modeling method based ...

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International Conference on Computer Science and Information Technology (CSIT)

作者： Yang Yang Yixu Song Jiaxin Wang Zhongxue Gan Lizhe Qi State Key Laboratory of Intelligent Technology and System Department of Computer S&T Tsinghua University Beijing China Research and Development Center InterSmart Robotic Systems Company Limited Langfang Hebei China

This article has been retracted by the publisher.

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Classification of lying states for the humanoid robot SJTU-HR1

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Science China(Technological Sciences) 2009年第5期52卷 1301-1311页

作者： JiaLun Yang Feng Gao ZhenLin Jin LiFeng Shi State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Robotic Research Center Yanshan University Qinhuangdao 066004 China

The humanoid robot SJTU-HR1’s concept is introduced and its characteristics tree is given. The basic states for SJTU-HR1 are proposed, including lying, sitting, standing and handstanding, abstracted from the daily exercises of human beings. The G _F(generalized function) set theory is exploited to achieve the kinematic characteristics of the interested EEs (end-effectors) of SJTU-HR1 for the lying states. Finally, the results show that the large amounts of states can be described using the abbreviations in a systematic manner. Although we have focused on the application of the G _Fset theory to humanoid robots, particularly the SJTU-HR1, this methodology can also be applied to quadruped robots and hexapedal robots, especially when the desired tasks are complex.

关键词： SJTU-HR1 G Fset motion planning basic states lying states

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