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International Conference on Information and Automation (ICIA)

作者： Xingdong Li Wei Guo Mantian Li Chao Chen Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

3D point cloud is the original format of three dimensional map for the navigation of mobile robotics. Time of Flight camera can directly return 3D points and grayscale image simultaneously, but the color information is lost. In this paper, 3D points are colored by calibrating PMD camera with RGB camera, and then the RGB image is generated with respect to a frame of TOF camera. Point cloud form only one frame is not large enough for navigating the robot or observing the environment, an approach for combining two continuous frames is also proposed. Scale invariant features are detected from the RGB images generated, and features from two images are matched accurately. Iterative Closest Point(ICP) algorithm is used to estimate the relative pose transformation of TOF camera, the initial pose is computed from corresponded 3D feature point pairs. The experiments demonstrate the effectiveness of the approach proposed in the paper.

关键词： Cameras Three-dimensional displays Robot vision systems Calibration Gray-scale Image color analysis Feature extraction

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Preliminary anchoring technology for landing on the asteroid

Preliminary anchoring technology for landing on the asteroid

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IEEE International Conference on robotics and Biomimetics

作者： Hong Liu Zhijun Zhao Jingdong Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province PRC

ISBN: (纸本)9781479927456

Anchoring technology is necessary for the lander to land on the asteroid. Four types of anchoring modes and their characteristics are discussed, and then an anchoring system is introduced. Some key factors related to the performance of the anchoring system are presented. These factors include characteristics of the asteroid, penetrating energy and shape of the anchor tip. Penetrating energy and shape of the anchor tip are analyzed quantitatively, and then pyrotechnical and conic anchor tip is selected for the anchoring system. Finally, anchoring system is tested by penetrating in soil and sand media.

关键词： Force Equations Shape Soil Mathematical model Springs Materials

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A manipulator's safety control strategy based on fast continuous collision detection

A manipulator's safety control strategy based on fast contin...

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IEEE International Conference on robotics and Biomimetics

作者： Jing Xia Zainan Jiang Hong Liu Hegao Cai Guangxin Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479927456

In this paper we propose a strictly conservative and novel hybrid safety control strategy consisting of the pre-contact safety strategy and the post-contact safety strategy in order to provide safety guarantees and enable continuous motions. An optimal motion trajectory planning that limits jerk, acceleration and velocity of robot motion and can obtain a time optimal motion is introduced as post-contact safety strategy. The optimal motion trajectory planning can reduce the impact forces during occurring collision and keep high efficiency of manipulator and continuous motions. Then we describe a fast continuous collision detection as pre-contact safety strategy to avoid collision. The advantages of this method are that it can solve the tunneling problem and check the whole trajectory. Finally, the proposed hybrid safety control strategy has been implemented on a 7 degrees-of-freedom(DOF) humanoid manipulator, and the experimental results demonstrate the validity of the novel hybrid safety control strategy.

关键词： Safety Trajectory Manipulators Joints Acceleration Planning

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Automatic facial expression recognition using SVM based on AAMs

Automatic facial expression recognition using SVM based on A...

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2013 5th International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Wang, Li Li, Ruifeng Wang, Ke DEP. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769550114

An automatic facial expression recognition method is proposed to effectively recognize facial expression without any region unrelated to facial region. Support Vector Machine (SVM) is applied to recognize facial expression by Gabor features extracting using Gabor wavelet transformation after separate facial region from images Based on Active Appearance Models (AAMs), which reduce influence of illumination and pose. The feasibility and effectiveness of this system are verified by multiple experiments, and satisfied results are achieved. © 2013 IEEE.

关键词： Support vector machines

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Structure design of a mobile jack robot

Structure design of a mobile jack robot

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International Conference on Information and Automation (ICIA)

作者： Xizhe Zang Yixiang Liu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479913329

A novel type of mobile jack robot is proposed in view of the fact that the traditional method of debris jacking up is usually inefficient and unsafe. The jack robot has two motion modes: fast motion mode in which the robot can drive in straight line, veer and climb with the use of crawler and crawling mode in which the robot can open narrow gaps and cultivate spaces under debris by itself to enable it to pass through. The step-shaped structure on the robot's head is able to insert into a 40 mm gap and expand it to 410 mm gradually, to make enough spaces for rescue teams and other rescue tools to save out survivors under debris. The robot can jack up 1000 kg load driven by a single-acting hydraulic cylinder which generates 101 kN force at rated pressure 70 MPa. Experiments are carried out to verify the validity of the proposed design.

关键词： Lifting equipment Robots Force Fasteners Finite element analysis Joining processes Dynamics

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Progress of AFM single-cell and single-molecule morphology imaging

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Chinese Science Bulletin 2013年第26期58卷 3177-3182页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Mechanical and Biomedical Engineering City University of Hong Kong Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences

Atomic force microscopy (AFM) can probe single living cells and single native membrane proteins in natural fluid environments with label-free high spatial resolution. It has thus become an important tool for cellular and molecular biology that significantly complements traditional biochemical and biophysical techniques such as optical and electron microscopy and X-ray crystallog-raphy. Imaging surface topography is the primary application of AFM in the life sciences. Since the early 1990s, researchers have used AFM to investigate morphological features of living cells and native membrane proteins with impressive results. Steady improvements in AFM techniques for imaging soft biological samples have greatly expanded its applications. Based on the authors' own research in AFM imaging of living cell morphologies, a review of sample preparation procedures for single-cell and single-molecule imaging experiments is presented, along with a summary of recent progress in AFM imaging of living cells and native membrane proteins. Finally, the challenges of AFM high-resolution imaging at the single-cell and single-molecule levels are discussed.

关键词：原子力显微镜成像实验分子形态单个活细胞生物物理技术高空间分辨率高分辨率成像生物样品

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Design and experiments of a deep-sea hydraulic manipulator system

Design and experiments of a deep-sea hydraulic manipulator s...

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OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common

作者： Zhang, Qifeng Chen, Jun Huo, Liangqing Sun, Bin Zhao, Yang Cui, Shengguo State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Shenyang Institute of Automation CAS Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9780933957404

Deep-sea master-slave hydraulic manipulator is among most commonly tools equipped on remotely-operated vehicles or human occupied vehicles. The design and realization of a 7-function master-slave hydraulic manipulator can be used in 7000 meters depth is proposed, and the design and control experiments of the salve arm are described in detail. Linear actuator, rotary actuator and cycloid motor are the three basic modules of the slave arm. The rotary actuator is the most difficult module to realize, a double-screw-pair swing rotary actuator is designed in this paper, which realized rotary driving, multi-path oil and electric cable passing through and rotary angle measuring. To achieve smooth control result, PI control algorithm with variable gains is applied on the control of the slave arm. Running experiments show the reliability of the manipulator system. The control algorithm is also certified effective in alleviating the movement delay and overshoot jitter of slave-arm. © 2013 MTS.

关键词： Manipulators

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Adaptive reliable synchronization of a class of nonlinear chaotic systems

Adaptive reliable synchronization of a class of nonlinear ch...

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2013 5th International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Zhao, Xin-Gang Ye, Dan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China College of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9780769550114

This paper addresses the reliable synchronization problem for a general class of uncertain chaotic systems with adaptive mechanism. By combining adaptive method and linear matrix inequality (LMI) optimization technique, an adaptive reliable synchronization controller is established to guarantee synchronization between the master chaotic and slave chaotic systems even though actuator failures occur and uncertain nonlinear term exists. Finally, an illustrate example is provided to demonstrate the effectiveness of the results developed in this paper. © 2013 IEEE.

关键词： Synchronization

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Study on simulation of multimodule space station intra-vehicular navigation: a survey

Study on simulation of multimodule space station intra-vehic...

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2013 International Conference on Biomedical Engineering and Environmental Engineering (ICBEEE 2013)

作者： Lei Zhu Yingxue Yao State Key Laboratory of Robotics and System (HIT) School of Mechanical and Electrical Engineering Harbin Institute of Technology

Simulation is a reasonable approach and important basis for studies and trainings of astronauts' multimodule space station intra-vehicular navigation. Based on the introduction of the main simulation effect required, the research progress of multimodule space station intra-vehicular navigation simulation was summarized and analyzed from three aspects: limitations of traditional intra-vehicular activity(IVA) simulation methods, development of virtual reality(VR)-based multimodule space station intra-vehicular navigation simulation, and shortcomings existing in the VR-based simulation methods. Research production and deficiency in areas of the obligatory and/or automatic spatial updating verification and the effect of subjects' posture on the navigation simulation were studied emphatically. At last, the research directions in future were pointed out.

关键词： multimodule space station IVA navigation simulation of intravehicular navigation obligatory and/or automatic spatial updating

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SEM-based tele-nanomanipulation system with virtual 3D visual and force interaction

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Jiqiren/Robot 2013年第1期35卷 52-59+66页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electrical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In order to increase the interaction of nanomanipulation, a tele-nanomanipulation platform with virtual 3D visual feedback and virtual force sense feedback is built by combining with the virtual reality technology and the force feedback device. To ensure that the virtual environment is able to reflect the real nanomanipulation environment accurately, the collision detection and force sensing rendering of the virtual model is designed in detail. The virtual match link between the force feedback device and virtual environment is introduced to ensure the stability of the force interaction interface and to increase the coordination of the master control module. Aiming at the accurate nanomanipulation, the image characteristics extraction method based on the region of interest is adopted to exact the depth information of probe. Then the relationship of image fuzzy degree and the distance between the probe and the substrate is quickly established, and the closed-loop control of the probe is realized. Finally, with the developed platform and the proposed method, the shift experiments of single ZnO nanowire are completed.

关键词： Scanning electron microscopy

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