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Numerical Study of a Dielectrophoresis Separation Device at Multiple Frequencies

Procedia Engineering 2011年 15卷 341-345页

作者： Baoyu Song Deli Liu Lining Sun Liguo Chen Department of Mechanical Design Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

This paper presents a novel dielectrophoresis (DEP) chip for lateral separation of cells/particles at multiple frequencies. DEP force was enabled by interdigitated electrodes fabricated in the access channel. The non-uniform electric field distribution in the micro-channel is solved through finite element analysis. To improve the effectiveness of separation, the shape of insulators is optimized and other parameters such as the width of the electrodes are studied by introducing parameter K which can stand for the DEP force imposed on cells/particles. It is proved that planar electrodes can take place of 3D electrodes under certain condition. Furthermore functions realized by 3D electrodes can also be achieved by simple planar electrodes.

关键词： Lab-On-Chip Dielectrophoresis Particle focusing

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An on-line gait generator for bipedal walking robot based on neural networks

An on-line gait generator for bipedal walking robot based on...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Fei Wang Yuzhong Zhang Shiguang Wen Tinghui Ning College of Information Science and Engineering Northeastern University Shenyang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

An on-line gait synthesis scheme for a bipedal walking robot is proposed. To realize efficient and human-like gait, MTi sensors were mounted on the lower limb of human subject to acquire kinematics information that can be integrated to the angular changes of hip and knee joints during walking. The time series angles were normalized and then sampled by cubic spline interpolation. By employing discrete-time Fourier Series, the samples were extracted into features, and further dimensionally reduced by using PCA to simplified features. By using ANNs, the nonlinear functional relations between gait parameters (i.e. cadence and stride) and simplified features that can be used to reconstruct angles of hip and knee joints were established. Walking experiments of a biped robot at slow, intermediate and fast speeds were conducted to validate the effectiveness of the proposed scheme. The results indicate that the synthesized gait is smooth, efficient and human-like. The proposed scheme can on-line generate the reference gait that covers a wide speed range for bipedal walking of robot.

关键词： Legged locomotion Joints Knee Hip Humans Principal component analysis

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Kinematic and dynamic optimizations of the redundant manipulator via local degrees of freedom

Kinematic and dynamic optimizations of the redundant manipul...

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International Conference on Mechanic Automation and Control Engineering (MACE)

作者： Yushu Bian Zhihui Gao Min Liu State Key Laboratory for Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Beihang University Beijing China

In order to conquer the difficulty of simultaneous optimizations on kinematic and dynamic indices of the redundant manipulator, a new type of redundant manipulator with local degrees of freedom is proposed. Redundant degrees of freedom are used to optimize kinematic index, and local degrees of freedom are used to optimize dynamic index. The corresponding optimization method is suggested. As a result, the kinematic and dynamic indices of the redundant manipulator can be optimized simultaneousely. Some simulations are carried out, and the optimization method is verified to be effective.

关键词： Manipulator dynamics Moment methods Kinematics Optimization Jacobian matrices

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The Analysis on Period Doubling Gait and Chaotic Gait of the Compass-Gait Biped Model

The Analysis on Period Doubling Gait and Chaotic Gait of the...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jie Zhao Xiaoguang Wu Xizhe Zang Yanhe Zhu Lei Zhu State Key Laboratory of Robotics and System Science Garden of HITNO.2Street YiKuangDistrict NanGangHarbinChina. 150080

The passive dynamic walking model, which can only depend on the gravity and its own inertia, presents stable, high-efficient, natural periodic gait on a slight slope. The stable periodic gait of the robot has a delicate balance of energy conversion, which makes the gait adjust itself as the parameters of the model change. In our work, the cell mapping method is combined with Newton-Raphson iteration to obtain the limit cycle of the periodic gait in the model, the track stability of the limit cycle is analyzed, and the eigenvalues change rule of Poincaré Jacobi matrix is deduced. The influence of changing parameters on the gait is analyzed and discussed by simulations on the model with different sets of parameters. The result suggests that, the location of the center of leg mass too high or too low, foot radius increase or decrease, the slope or moment of inertia increase, will lead to the occurrence of bifurcation of the gait period and chaos;while the way the gait enters chaos from period doubling bifurcation, which results from different parameters change, obeys the law all the period doubling bifurcation share, that is, it has the same Feigenbaum constant. Furthermore, the dynamic features of the robot at the entrance of the chaos are obtained by the rule of the period doubling bifurcation of the gait;meanwhile, it can be found by the analysis of the gait features in the chaos area that there is also certain periodic law in the chaotic gait.

关键词： Bifurcation Legged locomotion Chaos Leg Jacobian matrices Eigenvalues and eigenfunctions

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Research on Auditory Display Technology Based on Visual Information

Research on Auditory Display Technology Based on Visual Info...

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International Conference on Multimedia and Signal Processing (CMSP)

作者： Xianchun Meng Shijie Dai Yuhong Liu Biao Xiang Zhidong Liu Zhi Lv School of Mechanical Engineering Hebei University of Technology Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A new recognizing obstacle method based on the visual information with the different voice was proposed in this paper, which overcame the flaw of the former ETA system to be unable to distinguish the outside obstacle concrete information. This method extraction goal object's color and the shape characteristic, with the established database retrieval math, distinguishes the goal object and then sends out the corresponding pronunciation. After a period of time's training, the blind person can skilled listen to the sound to know the obstacle information.

关键词： Image color analysis Feature extraction Shape Pixel Mutual information Object recognition Colored noise

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Design and implementation of complete coverage strategy for autonomous mobile robot

Design and implementation of complete coverage strategy for ...

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作者： Wang, Fei Wen, Shiguang Wu, Chengdong Guo, Liang 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

ISBN: (纸本)9789881725592

A general scheme of complete coverage for mobile robot under unknown static environment is presented. The complete coverage problem is divided into three subproblems called region decomposition, complete coverage of subregion and subregion linking seperately. Boustrophedon decomposition method was used to decompose the region, and roundabout sweeping with forward steering combining with stream function for obstacles avoidance were adopted to complete coverage of subregion. The subregion linking was realized by point stabilization based on fuzzy logic control. Simulated coverage experiments were conducted under different conditions in Microsoft robotics Studio and simulation results demonstrate the effectiveness and robustness of the proposed scheme. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

ISBN: (纸本)9789881725592

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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Servo system of 6 DOF Electro-hydraulic Shaking Table

Servo System of 6 DOF Electro-hydraulic Shaking Table

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Liyi Yin Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom(DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a realtime PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST.

关键词： Electro-hydraulic shaking table,decouple control,identification

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Study of Thrust Lever Control Loading system in Flight Simulator

Study of Thrust Lever Control Loading System in Flight Simul...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Jinsong Zhao Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called Sim Mechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque.

关键词： Flight simulator Control Loading system thrust lever current loop simulation model

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Optical flow based plane detection for mobile robot navigation

Optical flow based plane detection for mobile robot navigati...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Zhongli Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

Dominant plane detection is an essential task for an autonomous navigation of mobile robots equipped with a vision system, as we assume that robots move on the dominant plane. In this paper, based on optical flow, the image motions of points which located in a plane were described by planar flow. After the parameters of planar flow are estimated, the distance error of image points can be used for detecting the plane region from monocular image sequence. The proposed method includes three steps. First, the robust optical flow is estimated between two consecutive images from the image sequence. Then a geometry constraint provided by planar flow is applied to detect the plane regions in optical flow. And finally, some iterative procedures can be used for improving the results. Compared with the feature point based method which sometimes is invalid because of the lacking of texture, the optical flow based method can detect the ground plane even if there are not much more image features in the plane region. Some experiments with outdoor images have been conducted.

关键词： Computer vision Image motion analysis Optical imaging Adaptive optics Feature extraction Estimation Optical variables control

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