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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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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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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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Kinematic modeling and analysis of novel eight-wheel lunar rover

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Journal of harbin institute of technology(New Series) 2009年第6期16卷 751-755页

作者：高海波张朋邓宗全胡明 State Key Laboratory of Robotics and Systems School of Mechatronic Engineering Harbin Institute of Technology

A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.

关键词： kinematic modeling locomotion system eight-wheel lunar rover lunar rover

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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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GPRS based guard robot alarm system design

GPRS based guard robot alarm system design

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作者： Li, Maohai Sun, Lining Huang, Qingcheng Cai, Zesu Piao, Songhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769540276

This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robots in an integrated and highly portable manner, particularly in recent years the GPRS network provides wireless access of internet for mobile phone which becomes the most important and common terminal equipment. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, and add man-made intervention to the system, thus achieves a more convenient and reliable alarm system. The system mainly consists of two parts: detection of abnormal and dangerous situation in domestic environment and sending the alarm information as MMS form to the user's phone via GPRS networks. Finally experiments show that the alarm system can accurately send alarm information to the user's mobile phone. The system is low-cost, flexible, reliable, and can be widely used. © 2010 Crown Copyright.

关键词： Cellular telephones

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A novel Hierarchical decomposition for multi-player pursuit evasion differential game with superior evaders 09

A novel Hierarchical decomposition for multi-player pursuit ...

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2009 World Summit on Genetic and Evolutionary Computation, 2009 GEC Summit - 1st ACM/SIGEVO Summit on Genetic and Evolutionary Computation, GEC'09

作者： Ze-su, Cai Li-ning, Sun Hai-bo, Gao State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engeneering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781605583266

In this paper, we consider a novel Hierarchical decomposition approach for multi-player pursuit evasion game (MPPEG) where some evaders' capability are higher than those of all pursuers. Differently from standards MPPEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer onboard sensor. In this paper, we study the number of pursuers which necessitates for the capture condition and the time of all evaders have been captured. A novel Cooperative in the coalition formation is used for pursuer in their pursuit strategies deriving to 1) Avoid collision among objects, 2) Reduce the distance between each pursuer and the evader over the evolution of game;3) Keep the pursuers' formation around the evader invariant during the pursuit process and enclose the superior evader. The validity of our method is illustrated by two simulation examples. Copyright 2009 ACM.

关键词： Game theory

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