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An Interest Point Detector Based on Polynomial Local Orientation Tensor

自动化学报 2012年第7期38卷 1183-1189页

作者： LIN Rui WANG Wei-Dong DU Zhi-Jiang SUN Li-Ning State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

In this paper, aiming at application of vision-based mobile robot navigation, we present a novel method for detecting scale and rotation invariant interest points, coined polynomial local orientation tensor (PLOT). Our detector is based on the local orientation tensor, which is constructed from the polynomial expansion of the image signal. We first analyze the properties of the local orientation tensor of PLOT, and select a suitable tuning parameter to make the local orientation tensor extract invariant features. Automatic scale selection is also used in the computation of the local orientation tensor and the characteristic scale is selected to attain scale invariant features. Then, the true interest points are detected by the small eigenvalues of the orientation tensor. We evaluate the performance of our detector on the repeatability criteria and compare it with other existing approaches. Experimental results for PLOT show strong performance in different rotations, with varying scale changes and illumination changes in the real-world conditions.

关键词：取向张量检测器多项式兴趣点旋转不变量 PLOT 机器人导航图像信号

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Intelligent bionic leg motion estimation based on interjoint coordination using PCA and RBF neural networks

Intelligent bionic leg motion estimation based on interjoint...

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

作者： Wang, Fei Qi, Yalu Wen, Shiguang Wu, Chengdong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 158100 China

ISBN: (纸本)9781467312776

It has been a challenging endeavor for amputee to coordinate harmoniously with his/her artificial limb. In this paper, a novel scheme of real-time motion estimation for Intelligent bionic leg based on interjoint coordination is proposed. To measure the gait during walking, inertial sensors are mounted on the CoGs of bilateral thighs and shanks to acquire angular velocities of lower limbs of subjects. For the existence of linear correlation between bilateral kinematics in healthy symmetrical human gait, principle components analysis is employed to model the interjoint coordination and is used to estimate the knee joint angle of intelligent bionic leg from body motion of amputee. To improve the presicion of motion estimation further, RBF neural networks are used to optimally calculate the knee joint angle. Simulation and experimental results demonstrate the effectiveness and correctness of the proposed scheme. © 2012 IEEE.

关键词： Motion estimation

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Studies on biomechanics of skeletal muscle based on the working mechanism of myosin motors:An overview

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Chinese Science Bulletin 2012年第30期57卷 4533-4544页

作者： YIN YueHong GUO Zhao CHEN Xing FAN YuanJie State Key Laboratory of Mechanism System and Vibration Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China

Skeletal muscle is the source of human body *** scholars have been studying in this field to reveal its contraction mechanism,and relevant achievements have been awarded the Nobel *** paper reviewed the current researches on biomechanics of skeletal muscle,and concluded two strategies(top-down and bottom-up methods) for the biomechanical research of skeletal ***,this paper generalized two major aspects of muscle research:(1) the multi-force coupling mechanism and the collective operation mechanism of molecular motors;(2) the bioelectrochemical driving and control principium of muscle *** discussed the solution for experimental verification and induced a novel idea to study the biomechanics of skeletal muscle based on the microscopic working mechanism of molecular motor,which is the origin of muscle *** we analyzed the disadvantages in existent researches and explored future directions that need further studies.

关键词：工作机制生物力学分子马达骨骼肌肌球蛋白诺贝尔文学奖收缩原理生物电化学

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Design and experiment of electromagnetic force device for optical fiber fusion stretching

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2012年第1期20卷 72-79页

作者： Rong, Wei-Bin Guan, Nan-Nan Wang, Le-Feng Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

An electromagnetic force device is designed to realize the precise force control in the process of fusion stretching of ultra-thin fibers. First, the electromagnetic force with different coil parameters is calculated based on finite element method, and the relationship between electromagnetic force and coil parameters is derived. With the demand of stretching system performance and the dimension restrictions of the coil frame, constraint equations and objective functions are established to optimize the solution to machine the electromagnetic coil. Then the control circuit for electromagnetic force is designed to regulate the current in the coil and achieve the fine adjustment of electromagnetic force. Finally, experiments of electromagnetic force device are performed. The results indicate that the range of stretching force for the optical fibers can achieve 26.073 mN and the measuring resolution is 7.473 μN. It satisfies the demand of the fusion stretching of ultra-thin fibers.

关键词： Optical fibers

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Errors modeling and sensitivity analysis for a novel parallel manipulator

Errors modeling and sensitivity analysis for a novel paralle...

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

作者： Li, Yunfeng Li, Changfeng Qu, Dongsheng Duan, Suolin Bai, Xue Shen, Huiping State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Robotics Institute of Changzhou University Changzhou University Changzhou Jiangsu Province China

ISBN: (纸本)9781467312776

Error model is the basis for accuracy-related computations and analyses for parallel manipulator. In this paper, one novel 6-DOF Parallel manipulator is proposed and its errors model is obtained by setting up the relation of pose errors and structural parameters based on the closed-vectors differential method. Errors sensitivity index are defined by using of singular value of the matrix and are given to physical meanings. Errors synthetically sensitivity, direction sensitivity and maximum sensitivity are quantitatively analysed through simulation, which prove that errors sensitivity of some feature in the working space can be of evaluation scale for optimum structural design. Analysis of the structural parameters and the error sensitivity can describe the relationship of parallel manipulator configuration parameters on the terminal accuracy. The errors model set up can lay a solid foundation for structure design and errors compensation of the manipulators. © 2012 IEEE.

关键词： Sensitivity analysis

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Theoretical study on the dynamic separation of two microplates with an intervening liquid meniscus

Theoretical study on the dynamic separation of two microplat...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Rong, Weibin Guo, Bin Shao, Bing School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The dynamic separation of two parallel microplates with an intervening liquid meniscus is studied theoretically. The dynamic model considering the meniscus force and the viscous force between the plates in the separation process was developed. With typical simulation parameters, the magnitudes of various forces were compared before the separation of two parallel plates occurs. It was found that the meniscus force decreases gradually with the increase of separation distance. However there is a sudden jump of the viscous force before it gradually increases, then it decreases dramatically. The influences of various parameters on the separation time were investigated. It was found that the separation time increases with the mass of the upper plate, surface tension, viscosity and volume of the liquid. The separation time decreases with the initial distance and the contact angles of the liquid. © (2012) Trans Tech Publications, Switzerland.

关键词： Liquids

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Theoretical analysis of meniscus forces between two spherical nanoparticles at various humidities

Theoretical analysis of meniscus forces between two spherica...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Guo, Bin Rong, Weibin Sun, Lining School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The meniscus force between nanoobjects with a mediated liquid bridge plays an important role in many applications due to scale effects. As an typical configuration, the meniscus force between two spherical nanoparticles at various humidities is studied theoretically. The numerical method and the usual approximation method of calculating the meniscus force at various humidities are compared firstly. It is found that the big error may occur at some conditions. The effects of relative humidity on the meniscus force between spherical nanoparticles are investigated. Besides, the influences of spherical radius, the distance between nanoparticles, contact angles of the liquid on the meniscus forces between spherical nanoparticles are studied. The simulation results are helpful to understand and control the adhesion force at nanoscales. © (2012) Trans Tech Publications, Switzerland.

关键词： Atmospheric humidity

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Differentiated time-frequency characteristics based real-time motion decoding for lower extremity rehabilitation exoskeleton robot

Differentiated time-frequency characteristics based real-tim...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Fan, Yuanjie Yin, Yuehong State Key Laboratory of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Dongchuan Rd. 800 200240 Shanghai China

ISBN: (纸本)9783642335143

Decode the human motion intension precisely in real time is the key problem in coordinated control of the lower extremity exoskeleton. In this research, the relationship between frequency characteristics of sEMG (surface electromyographic) and muscle contraction is established in real time according to the biomechanism of skeletal muscle;DPSE (Differentiated Power Spectrum Estimation) method is applied to extract frequency characteristics from sEMG precisely and quickly;offset compensation is added to prevent noise disturbance during feature extracting of the sEMG with lower SNR (signal-to-noise ratio). Corresponding experiments on knee joint are conducted by prototype exoskeleton robot. EMGBFT (EMG Biofeedback therapy) based on force and haptic is applied as information feedback. Results show the human-machine interface can decode human motion intension and assist or resist movement of the wearer in real-time. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Signal to noise ratio

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Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

Easy control hydraulic rotary self-servo reconfigurable deco...

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

作者： Jiang, Lin Zhao, Jie Wu, Wenchao Xiang, Xianbao Chen, Xinyuan Zhao, Hui Zeng, Liangcai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Key Laboratory of Metallurgical Equipment and Its Control Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China

ISBN: (纸本)9781467312776

Aiming at the problems in hydraulic rotary self-servo, a easy control hydraulic rotary self-servo technology was proposed. The problems in hydraulic rotary self-servo were just as follows: the hydraulic servo valve radial force is imbalance, the hydraulic spool clamping force and friction are large, and the dynamic properties of the spool become deterioration. Based on easy control hydraulic rotary self-servo technology, the reconfigurable decoupling hydraulic joint was designed. And the decoupling properties of this new joint were analysed. This new joint has reconfigurable performance, omni-directional work space and movement decoupling performance. The omnidirectional work space and movement decoupling performance were verified by simulation experiment. © 2012 IEEE.

关键词： Reels

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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