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The 2011 International Conference on Advanced Materials and Information Technology Processing(AMITP 2011)

作者： YU Guochen WANG Zhiliang XIE Lun XU Jiaming State Key Laboratory of Robotics and System Harbin Institute of Technology School of Computer and Communication Engineering University of Science and Technology Beijing

ISBN: (纸本)9783037851579

With the rapid development of network technology, network-based humanoid robot technology will also be open to the development of gradual and orderly progress. This article is based on the C / S architecture, the server responsible for controlling the record of news and information network transit between paragraphs;through remote interaction, real-time client to complete the real humanoid robot control functions. Interoperability between the client, first to sign the server. Server information of all registered users to return to the client process, then the client users will be able to get online users to select the remote robot interaction..When a user operation, the client program as a virtual robot through the virtual robot laboratory will be displayed in realtime robot control results.

关键词： Humanoid robot,remote interactive,virtual,real-time,network

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Investigating the relationship between CD20-Rituximab binding force and mechanical properties of Lymphom B cells using atomic force microscopy

Investigating the relationship between CD20-Rituximab bindin...

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

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Xiubin Xiao Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing China

The invention of atomic force microscopy (AFM) provides new technology for investigating the physiological activities at the single cell and single molecule levels. Lymphoma Raji cells were adsorbed onto the glass slides by coating the glass slides with poly-L-lysine. Rituximabs (anti-CD20 antibody) were linked onto the AFM tip by PEG linker and the CD20-Rituximab binding forces were measured on three lymphoma Raji cells. Then the mechanical properties of the Raji cells were dynamically measured after the Rituximab activation by obtaining force curves on the cell surface. The mechanical properties of lymphoma cells kept stable at the first 20-30 min, and then decreased markedly. Besides, as the CD20-Rituximab binding force increased, the mechanical properties decrease rate increased. The experimental results indicated that the Rituximab's effect is related to CD20-Rituximab binding force and can improve our understanding of Rituximab's variable efficacies in different patients.

关键词： Force Cancer Probes Drugs Force measurement

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Inducing self-rotation of Melan-a cells by ODEP

Inducing self-rotation of Melan-a cells by ODEP

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7th IEEE International Conference on Nano/Micro Engineered and Molecular systems, NEMS 2012

作者： Chau, Long-Ho Ouyang, Mengxing Liang, Wenfeng Lee, Gwo-Bin Li, Wen J. Liu, W.K. Centre for Micro and Nano Systems Chinese University of Hong Kong Hong Kong Hong Kong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Department of Power Mechanical Engineering National Tsing Hua University Hsinchu Taiwan Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong Department of Anatomy Faculty of Medicine Chinese University of Hong Kong Hong Kong Hong Kong

ISBN: (纸本)9781467311243

This paper presents our discovery that self-rotation of Melan-a pigment cells can be induced by applying appropriate optical dielectrophoretic (ODEP) parameters. Under optically induced DEP force, which is generated by specific optical electrode patterns and with a band-width of AC bias frequencies, Melan-a cells can be trapped or repelled away from the optical electrodes. In addition, the self-rotation motion of the Melan-a cells was observed. In particular, the applied frequency and voltage dominate the overall cell motion. Hence, the cells can be manipulated on an electrode-free surface. This project studies the rotation and translation motions of the cells in an ODEP system. We speculate that the unbalanced distribution of melanin inside the pigment cells causes this self-rotation phenomenon. Therefore, both pigment cells (Melan-a) and non-pigment cells (Raw 264.7) have been tested in the ODEP experiments to compare their motion behavior. Potential applications for this novel observation are to use the self-rotation phenomenon to elucidate the pigment cells' physical property, and separate the pigment and non-pigment cells. © 2012 IEEE.

关键词： Electrodes

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Overhead Power Line Detection from UAV Video Images

Overhead Power Line Detection from UAV Video Images

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International Conference on Mechatronics and Machine Vision in Practice

作者： Tang Wen YANG Hang YIN Qiu Qi RUAN Jian Da HAN Jun Tong QI Qing YONG Zi Tong WANG Zeng Qi SUN Beijing Key Laboratory of Advanced Information Science and Network Technology Institute of Information Science Beijing Jiaotong University Beijing 100044 China Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9781467316439

Currently, unmanned aerial vehicles (UAVs) are applied to routine inspection tasks of electric distribution networks. As an important information source, machine vision attracts much attention in the area of the UAV's autonomous control. To this end, real-time algorithms are studied-in this paper to detect the power lines in the UAV video images. First, video images are converted into binary images through an adaptive thresholding approach. Then, Hough Transform is used to detect line candidates in the binary images. Finally, a fuzzy C- means (FCM) clustering algorithm is used to discriminate the power lines from the detected line candidates. The properties of power lines are used to remove the spurious lines, and the length and slope of the detected lines are used as features to establish the clustering data set. Experimental results show that the algorithms proposed are effective and able to tolerate noises from complicated terrain background and various illuminations.

关键词： Hough transforms autonomous aerial vehicles computer vision fuzzy set theory pattern clustering power overhead lines power system control video signal processing

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A novel control strategy for quadruped robot walking over irregular terrain

A novel control strategy for quadruped robot walking over ir...

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2011 IEEE 5th International Conference on robotics, Automation and Mechatronics, RAM 2011

作者： Yin, Peng Wang, Pengfei Li, Mantian Sun, Lining State Key Lab. of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781612842509

Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking ability. Based on the transfer strategies provided in the paper, the rough terrain walking problem could be simplified as common slope walking condition, and motion planning could be achieved via some basic criteria. Impedance control is implemented to reduce impact when foot stride to ground. On purpose of coping with foot slippage which would cause robot to fall, reflex control strategy is applied and tested. Via simulation we tested the control strategy and the feasibility was verified. © 2011 IEEE.

关键词： Motion planning

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Global shape reconstruction of nano grid with singly fixed camera

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Science China(Technological Sciences) 2011年第4期54卷 1044-1052页

作者： WEI YangJie WU ChengDong DONG ZaiLi Graduate School of Chinese Academy of Sciences & the State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China School of Information Science & Engineering Northeast UniversityShenyang 110004China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

Depth from defocus(DFD),as a typical shape reconstruction method,has been widely researched in most recent ***,all the existing DFD algorithms require at least two defocused images with different camera ***,in micro/nano manipulation,any change on visual sensor's parameters is absolutely ***,a novel DFD method to reconstruct the shape of a nano grid on micro/nano scale is researched in this ***,the blurring imaging model is constructed with the relative blurring and the diffusion ***,the relationship between depth and blurring is discussed from four ***,depth measurement problem is transformed into an optimization issue which is solved using the gradient flow ***,experiment results and error analysis are conducted to show the feasibility and effectiveness of the proposed method.

关键词： depth from defocus diffusion equation shape reconstruction nano grid

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An automatic compensation method on compression effect and surface elasticity measurement based on the deflection signal of AFM

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Science China(Technological Sciences) 2011年第9期54卷 2397-2403页

作者： WEI YangJie WU ChengDong DONG ZaiLi Graduate School of Chinese Academy of Sciences & the State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China School of lnformation Science & Engineering Northeast University Shenyang 110004 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

Atomic force microscope （AFM）, as an important instrument in micro/nano operation, has been widely used to measure sampie＇s height information. However, the so called compression effect, due to force aroused from the contact of AFM tip with a sample surface, would result in imprecision of the surface＇s height measurement, i.e., the measured height is lower than expected. Up to now, there is not any effective and rapid method to attenuate this kind of measurement error. Thus, in this paper, an algorithm to obtain high accurate height measurement is proposed. Firstly, the concept of force curve is used to analyze the basic principle of the compression effect. Secondly, an automatic compensation method by fusing the height signal and the deflection signal is proposed. The proposed algorithm can also be used to obtain a surface elasticity image. Finally, in order to validate the proposed method, two experiments are conducted with respect to mufti-wall nano-carbon tubes on a silicon substrate and graphemes on a mica substrate.

关键词： atomic force microscope （AFM） compression effect information fusion surface elasticity

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Rapid micro-patterning of a conductive PANI/MWNTs-polymer composite using an optically-induced electrokinetics chip

Rapid micro-patterning of a conductive PANI/MWNTs-polymer co...

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IEEE Nanotechnology Materials and Devices Conference (NMDC)

作者： Na Liu Wenfeng Liang John D. Mai Zaili Dong Wen J. Li Gwo-Bin Lee State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong China Department of Power Mechanical Engineering National TsingHua University Hsinchu Taiwan

ISBN: (纸本)9781467328715

A flexible, dynamically programmable and low-cost method applicable to micro-patterning of a conductive polymer/carbon nanotube composite solution is significant due to the potential applications in many areas. This paper demonstrates a new micro-patterning method for fabricating electrodes from a conductive polyaniline (PANI)/MWNT composite using an optically-induced electrokinetics (OEK) chip. This method quickly patterns flexible polymeric electrodes with different geometries when a square waveform signal with amplitudes from 16-20 Volts and frequencies from 20-30 kHz are applied. The geometric dimensions of the electrodes can be varied dynamically by controlling the size and exposure time of the light pattern. The surface morphology of electrodes patterned by this method is scanned by an atomic force microscope (AFM) and a scanning electron microscope (SEM) which show that the electrodes are uniform and continuous. Furthermore, the geometric dimensions and resistances of the electrodes are measured and analyzed. Experimental results reveal that the relationship between the resistance and geometries of the electrodes obey Ohm's law and the resistivity of the electrodes is about 0.03Ω·m.

关键词： Electrodes Scanning Electron Microscope Atomic Force Microscopy Surface morphology electrokinetics conductivity polymer composite Computer chips DNA Microarrays Composites exposure time OHM'S LAW

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Algorithm analysis for a rover simulation platform

Algorithm analysis for a rover simulation platform

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2011 International Conference on Electronic and Mechanical Engineering and Information Technology, EMEIT 2011

作者： Gao, Haibo Li, Weihua Ding, Liang Deng, Zongquan Liu, Zhen Guo, JunLong Research Center of Aerospace Mechanism and Control State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612840857

In recent years, the rover-based planetary exploration missions have put forward some new challenges to the simulation platforms for rovers. This paper introduces a simulation platform, ROSTDyn (ROver Simulation based on Terramechanics and Dynamics), for planetary rovers developed with C++ programming language on the basis of Vortex software. In this paper, the structure of ROSTDyn is introduced briefly. key algorithms for developing ROSTDyn are presented in detail, including the computation of the contact-area parameters, the transformation of velocity and force, the balance of the forces, and the integration of the algorithms and the modules. The simulation results verify that the algorithms are right, the integration is effective and the simulation runs stable. © 2011 IEEE.

关键词： Rovers

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Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 546-552页

作者： CAO Zhengcai ZHAO Yingtao WU Qidi College of Information Science and Technology Beijing University of Chemical Technology Beijing 100029 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China CIMS Research Center Tongji University Shanghai 200092 China

As one of the core issues of the mobile robot motion control, trajectory tracking has received extensive attention. At present, the solution of the problem only takes kinematic or dynamic model into account separately, so that the presented strategy is difficult to realize satisfactory tracking quality in practical application. Considering the unknown parameters of two models, this paper presents an adaptive controller for solving the trajectory tracking problem of a mobile robot. Firstly, an adaptive kinematic controller utilized to generate the command of velocity is designed based on Backstepping method. Then, in order to make the real velocity of mobile robot reach the desired velocity asymptotically, a dynamic adaptive controller is proposed adopting reference model and Lyapunov stability theory. Finally, through simulating typical trajectories including circular trajectory, fold line and parabola trajectory in normal and perturbed cases, the results illustrate that the control scheme can solve the tracking problem effectively. The proposed control law, which can tune the kinematic and dynamic model parameters online and overcome external disturbances, provides a novel method for improving trajectory tracking performance of the mobile robot.

关键词： nonholonomic mobile robot trajectory tracking model reference adaptive

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