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PSO-based SIFT false matches elimination for zooming image 1

9th International Conference on Intelligent Computing, ICIC 2013

作者： Gao, Hongwei Peng, Dai Niu, Ben Li, Bin School of Information Science and Engineering Shenyang Ligong University Shenyang 110159 China College of Management Shenzhen University Shenzhen 518060 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (数字)9783642394829

ISBN: (纸本)9783642394812

According to the numerous false matches of SIFT feature attribution of zooming image, false matches elimination algorithm, combined with geometric constraint of zooming image, is proposed in this paper. It aims to optimize square sum function of distance from point to corresponding polar line and adopt PSO to do iterative optimization that false matches points could be eliminated. The experimental results prove that the proposed algorithm is efficient and stable. © 2013 Springer-Verlag.

关键词： Iterative methods

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Part Shape Information Acquisition Based on Stereoscopic Vision

Part Shape Information Acquisition Based on Stereoscopic Vis...

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2013 International Conference on Materials Engineering and Mechanical Automation(MEMA 2013)

作者： jinan Gu sijie Chen baoguo Shen Mechanical Information Research Center of Jiangsu Univ. State Key Laboratory of Robotics(Shenyang Institute of Automation)

A clamping robot serving for several NC machines can recognize the best fit in manny blank ***,the shape information acquisition and pose measurment can be achieved by its computer vision *** key question is that the clamping robot automatively choices the best fit part by statistical result of geometric dimension of all *** best fit part is the one that its length and its diameter are mostly proximate to the processing *** choice method can save staff,reduce working allowance,and lessen finished *** to the shape information and position information,the robot can confirm the grab order,grab angle and finger joint ***,the part image is smoothing by noise reduction technology,secondly,the feature points are *** feature points present the information of the location of the mass center,the dip angle and ***,the clamping robot can grab the most fit bar part by means of rotational motion,rectilinear motion,and finger open-close movement when the shape information and location information of the bar part have been confirmed.

关键词： Blank part Shape and location information Feature point Edge detection Stereoscopic vision

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Fabrication of FET and Sensors Based on Single CuO Nanowire

Fabrication of FET and Sensors Based on Single CuO Nanowire

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International Conference on Nanoscience & Technology,China 2013(ChinaNANO 2013)

作者： Chaolei Huang Xiaojun Tian Jie Liu Zaili Dong Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences

CuO nanowire is an important p-type semiconductor nano-structure materials, and it can be used in many fields for its excellent physical and chemical properties, such as photovoltaic effect, field emission, and chemical and gas sensing, but those research are on CuO nanowires array or large numbers of CuO nanowires prepared on foil. Here we will fabricate nano device based on single CuO nanowire. Firstly CuO nanowires are synthesized on copper foil by heating oxidizing method, and they are transported from the foil to alcohol solution by ultrasonic treatment, then suitable dielectrophoresis （DEP） parameters, such as the concentration of the CuO nanowire solution, applied voltage and frequency on the microelectrodes, DEP duration time, are chosen to assemble single CuO nanowire on microelectrodes to eventually fabricate single CuO nanowire-based nano device. By the above series of process, perfect single CuO nanowire-based devices are fabricated, such as FET, photosensor and two kinds of gas sensors. In experiments, FET effect and photoconductivity of single CuO nanowire are measured, and the results show that single CuO nanowire nanodevice can work as a FET and it also has novel sensitivity to light intensity as a photo ***, single CuO nanowire device has a significant respond to alcohol at room temperature, and it can work as an alcohol gas sensor at room temperature. The single CuO nanowire-based device also has quick and significant respond to the humidity at room temperature, which means it can work as a humidity sensor. In our research, single CuO nanowire-based devices are fabricated successfully and experimental results indicate that single CuO nanowire devices have wonderful application prospects working as FET, photodector, gas sensors for alcohol or humidity at room temperature.

关键词： CuO nanowire fabrication DEP FET gas sensor photodector

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Quantification of living cell adhesion forces with a nanorobotic system

Quantification of living cell adhesion forces with a nanorob...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Hui Xie Munan Yin Weibin Rang Harbin Institute of Technology The State Key Laboratory of Robotics and Systems Harbin P. R. China

Cell-surface adhesion forces are significant in regulating cellular activities. In this paper, a nanorobotic system was developed and based on this system, a novel method measuring the cell-surface adhesion force is proposed. The nanorobotic system mainly consists of two independently actuated and sensed microcantilevers, forming a nanotweezer with capabilities of pick-and-place manipulation of a single cell in aqueous environments with accurate force sensing that is sufficiently sensitive to characterize interactions of cell-cell, cell-surface, even single molecules. Capabilities of the developed nanorobotic system have been validated by experimentally qualifying cell-surface adhesion events occurred between C2C12 cells (mouse adherent myoblasts) and Petri dishes under different contact time.

关键词： Force Nanobioscience Adhesives Force measurement Substrates Microscopy Liquids

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Stability and Robust Stability Analysis for Markovian Jump systems with state Delay and More General Transition Probabilities

Stability and Robust Stability Analysis for Markovian Jump S...

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第三十二届中国控制会议

作者： Quan-Yong Fan Dan Ye Kang-Jian Wang Xin-Gang Zhao College of Information Science and Engineering Northeastern University State Key Laboratory of Robotics Shenyang Institute of Automation CAS

ISBN: (纸本)9781479900305

This paper considers the problem of delay-dependent stability and robust stability analysis for Markovian jump systems(MJSs) with state delay and more general transition *** time-delay is considered to be time-varying delays and has upper *** transition probabilities of mode jumps include completely known,boundary known and completely unknown *** order to get less conservative criterion,the state information is used as much as possible to construct the Lyapunov-Krasovskii functional,and some new approaches are taken to deal with the partly known transition probabilities. Then,the sufficient conditions for stability and robust stability performance of the underlying systems are ***, numerical examples axe provided to demonstrate the effectiveness of the resulting criteria.

关键词： Markovian jump systems partly known transition probabilities time-varying delays linear matrix inequality

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Service Robot Localization Based on Global Vision and Stereo Vision

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Journal of Donghua University(English Edition) 2012年第3期29卷 197-202页

作者：于清晓闫维新付庄赵言正 State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University State Key Laboratory of Robotics and System Harbin Institute of Technology

To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.

关键词： service robot hierarchical positioning binocular vision localization

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Structure topology optimization of two-dimension micro/nano angular-table

Structure topology optimization of two-dimension micro/nano ...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Mahmoud Helal Lefeng Wang Lining Sun Production and Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura EGYPT Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin CHINA

Compliant mechanisms have made an enormous contribution in the design process of various fields such as for adaptive structures, hand-held tools, components in transportations, electronics, and surgical tools. The use of compliant mechanisms will help in reducing the number of components, which therefore decrease manufacturing cost and additionally increase the performance. Topology optimization has proven to be a powerful method for the conceptual design of structures and mechanisms. Topology optimization is the technique that finds the optimal layout of the structure within a specified design domain. This paper presents the micro/nano angular-table compliant mechanism. The topology optimization is applied for designing two-dimensional micro/nano angular-table compliant mechanism. The final optimal topology configuration of the micro/nano-angular table is shown and discussed.

关键词： Optimization Topology Finite element analysis Manufacturing processes Micromechanical devices Mathematical model Materials

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Analysis of period doubling bifurcation and chaos mirror of biped passive dynamic robot gait

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Chinese Science Bulletin 2012年第14期57卷 1743-1750页

作者： ZHAO Jie WU XiaoGuang ZANG XiZhe YAN JiHong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

With a reasonable parameter configuration,the passive dynamic walking model has a stable,efficient,natural periodic gait,which depends only on gravity and inertia when walking down a slight *** fact,there is a delicate balance in the energy conversion in the stable periodic gait,making the gait adjustable by changing the model ***é mapping is combined with Newton-Raphson iteration to obtain the numerical solution of the final state of the passive dynamic walking *** addition,a simulation on the walking gait of the model is performed by increasing the slope step by step,thereby fixing the model's parameters ***,the gait features obtained in the different slope stages are analyzed and discussed,the intrinsic laws are revealed in *** results indicate that the gait can present features of a single period,doubling period,the entrance of chaos,merging of sub-bands,and so on,because of the high sensitivity of the passive dynamic walking to the *** a global viewpoint,the gait becomes chaotic by way of period doubling bifurcation,with a self-similar Feigenbaum fractal structure in the *** the entrance of chaos,the gait sequence comprises a Cantor set,and during the chaotic stage,sub-bands in the final-state diagram of the robot system present as a mirror of the period doubling bifurcation.

关键词：倍周期分岔步态分析机器人系统 Cantor集模型参数混沌动态行走参数配置

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Design and testing of one-dimensional nano-positioning stage with large travel range and high resolution

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Nami Jishu yu Jingmi Gongcheng/Nanotechnology and Precision Engineering 2012年第5期10卷 384-389页

作者： Rong, Wei-Bin Wu, Zhen-Guang Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Design and performance testing of a one-dimensional nano-positioning stage with large travel range and high resolution are presented. Driven by dual piezoeletric actuators, the stage is developed based on differential leverage and flexible hinge. Flexible hinge stiffness, input reaction force, and amplification ratio are firstly analyzed based on material mechanics and structural vibration. The finite element analysis is used for validating amplification ratio and admissible stress. Finally, the experimental setup is developed and the performance of the stage is tested. The results show that the stage has a travel range of over 240 μm and a resolution of about 10 nm with the outsize of 80 mm × 60 mm × 20 mm. The proposed stage based on differential leverage can be used for large travel-range nano-positioning with high resolution.

关键词： Piezoelectric actuators

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Sliding mode control with nonlinear disturbance observer for a class of underactuated system

Sliding mode control with nonlinear disturbance observer for...

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Chinese Control Conference (CCC)

作者： Jian Huang Feng Ding Yongji Wang State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

In this study, a sliding mode controller based on nonlinear disturbance observer is investigated to control a class of underactuated system which is in cascaded form. By using strict feedback, the underactuated system is presented as a special cascade normal form convenient for controller design. A sliding mode controller is designed to stabilize underacturated plant directly and drive the variables to the sliding surface. In order to improve performance and robustness, a nonlinear disturbance observer was designed to compensate for external disturbances and model uncertainties. The theoretical results are illustrated by simulations on the acrobot. The simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： Observers Sliding mode control Robustness Uncertainty Simulation Joints Friction

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