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检索条件"机构=State Key Laboratory of Robotics and System Robotics Institute"

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Linearity of each channel pixel values from a surface in and out of shadows and its applications

Linearity of each channel pixel values from a surface in and...

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作者： Tian, Jiandong Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781457703942

Shadows, the common phenomena in most outdoor scenes, are illuminated by diffuse skylight whereas shaded from direct sunlight. Generally shadows take place in sunny weather when the spectral power distributions (SPD) of sunlight, skylight, and daylight show strong regularity: they principally vary with sun angles. In this paper, we first deduce that the pixel values of a surface illuminated by skylight (in shadow region) and by daylight (in non-shadow region) have a linear relationship, and the linearity is independent of surface reflectance and holds in each color channel. We then use six simulated images that contain 1995 surfaces and two real captured images to test the linearity. The results validate the linearity. Based on the deduced linear relationship, we develop three shadow processing applications include intrinsic image deriving, shadow verification, and shadow removal. The results of the applications demonstrate that the linear relationship have practical values. © 2011 IEEE.

关键词： Pixels

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An active contour method for tubular object segmentation

An active contour method for tubular object segmentation

引用

4th International Congress on Image and Signal Processing, CISP 2011

作者： Zhu, Linlin Fan, Huijie Tang, Yandong Han, Jianda Li, Rouxi State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Department of Ophthalmology Fourth People's Hospital of Shenyang Shenyang China

ISBN: (纸本)9781424493067

There are many tubular objects in image segmentation problems, such as vessel, road, and river and so on. In this paper, an active contour method is proposed for tubular object segmentation. This method is inspired by capillarity and based on the tubular structure enhancement. We get the tubular structure response direction as well as the response intensity by analyzing the Hessian matrices, and the response result is incorporated in the active contour model to control the curve's evolution just along the tubular object's extend direction. This active contour method is fit for tubular object segmentation, the experiments results valid our method. © 2011 IEEE.

关键词： Capillarity

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Classification of fNIRS data using wavelets and support vector machine during speed and force imagination

Classification of fNIRS data using wavelets and support vect...

引用

2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Xu, Baolei Fu, Yunfa Miao, Lei Wang, Zhidong Li, Hongyi State Key Laboratory of Robotics SIA CAS Shenyang China Graduate School of the CAS Beijing China SIA CAS Guangzhou China Dept. of Advanced Robotics Chiba Institute of Technology Narashino Chiba 275-0016 Japan

ISBN: (纸本)9781457721373

In this paper, we present a method for classifying functional near-infrared spectroscopy (fNIRS) data using wavelets and support vector machine (SVM). fNIRS data is acquired by ETG-4000 during speed and force imagination. Probes location is around C3 and C4 in 10-20 international system. After preprocessing the data using NIRS-SPM, we decompose it with 'db5' wavelet for 9 levels to do a multiresolution analysis (MRA). Then, the approximation and detail signal at every level are used for SVM classification using libSVM toolbox. The results show that frequency band between 0.02 and 0.08Hz is important for classification, especially frequency band between 0.02 and 0.04Hz. This finding is useful for building an fNIRS-based brain computer interface (BCI) system. © 2011 IEEE.

关键词： Support vector machines

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Obstacles Perception for Serpentine Robot Based on Optical Flow Modules and Multi-Sensor Fusion

Obstacles Perception for Serpentine Robot Based on Optical F...

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The International Conference on Recent Trends in Materials and Mechanical Engineering（ICRTMME 2011）

作者： Jie Zhao Zhenfeng Han Gangfeng Liu Yongmin Yang State Key Lab of Robotics and System Harbin Institute of Technology

To move efficiently in an unknown environment,a mobile robot must use observations taken by various sensors to detect *** paper describes a new approach to detect obstacles for serpentine *** captures the image sequence and analyzed the optical flow modules to estimate the deepness of the *** avoids one or higher order differential in the traditional optical flow *** data of ultrasonic sensor and attitude transducer sensor are fused into the algorithm to improve the real-time capability and the *** detecting results are presented by fuzzy diagrams which is concise and *** and outdoor experimental results demonstrate that this method can provide useful and comprehensive environment perception for the robot.

关键词： Optical flow,Multi-sensor fusion,Serpentine robot,Fuzzy diagram

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Phase-locked and non-phase-locked event-related oscillations and channel power spectra analysis during motor imagery with speed parameters for BCRI

Phase-locked and non-phase-locked event-related oscillations...

引用

5th International Conference on Bioinformatics and Biomedical Engineering, iCBBE 2011

作者： Fu, Yunfa Xu, Baolei Pei, Lili Li, Hongyi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School of the Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781424450893

Phase-locked and non-phase-locked event-related oscillations and channel spectra during motor imagery with speed parameters (fast 4Hz and slow 1Hz) were investigated in the paper. EEG signals related to imagination of six tasks that involved three limbs (left and right index fingers and right toes) and two speeds were first separated from original EEG signals mixed with noises by ICA. Then, event-related EEG trials were superposed and averaged to get time domain average EEG that was decomposed by wavelet transform to investigate phaselocked event-related oscillations. Event-related EEG trials were also decomposed by wavelet transform respectively and then superposed and averaged to investigate non-phase-locked eventrelated oscillations. In addition, power spectra for selected channel were calculated by FFT. By these methods, the latency of 50˜536ms and the low frequency band of 2.7˜8Hz for an increase in power early after the event, latencies and frequency bands for significant different changes and a different degree decrease in power at high frequency band between fast and slow motor imagery, and ERD / ERS in a broad frequency band for selected channels were found. Simultaneously extracting phase-locked and non-phase-locked event-related oscillations in broadband range may be very important for acquiring complete information about event-related EEG during motor imagery with speed parameters. The research results may be used in feature extraction for brain-controlled robots interface (BCRI). In the based on brain cognitive robots control, this study is also expected to provide some degree continuous and fine control strategies for BCR. © 2011 IEEE.

关键词： Wavelet transforms

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A novel motion estimate method of human joint with EMG-driven model

A novel motion estimate method of human joint with EMG-drive...

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5th International Conference on Bioinformatics and Biomedical Engineering, iCBBE 2011

作者： Ding, Qichuan Zhao, Xingang Xiong, Anbin Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Graduate School Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781424450893

Electromyography (EMG) has been widely used as control commands for prosthesis, powered exoskeletons and rehabilitative robots. In this paper, an EMG-driven state-space model is developed to estimate joint angular velocities and angles throughout elbow flexion/extension. The state equation of the model combines the Hill-based muscle model with the forward dynamics of joint movement, and expresses the kinematic variables as a function of neural activation levels. Then, EMG features including integral of absolute value and waveform length are extracted, and two quadratic equations which associate the kinematic variables with EMG features are fitted to represent the measurement equation. Based on the proposed model, the joint angular velocities and angles are estimated just using the EMG signals with the Extended Kalman Filter (EKF), and the estimation results are used to control a manipulator. The experimental results demonstrate the efficiency of EMG-based motion control with the proposed model. © 2011 IEEE.

关键词： Extended Kalman filters

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Vibration characteristic analysis of spot-welding robot based on ADAMS/Vibration

Vibration characteristic analysis of spot-welding robot base...

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

作者： Luo, Haitao Liu, Yuwang Wang, Hongguang Zhou, Weijia State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100049 China

ISBN: (纸本)9781612840857

Aiming to improving the performance of high-power, heavy-load, high-speed and high-precision robots, this paper proposes a simulation method for vibration analysis based on virtual prototyping technology. In ADAMS/Vibration, we first establish the rigid-flexible coupling vibration system of a spot-welding robot, then solve the natural frequencies and modal shapes of the system, and finally calculate the frequency response under certain forced vibration. In order to build vibration system, the principle and simulation process of vibration analysis are given by inputting sine sweep signal on end effector. With the help of the getting frequency response, we can avoid the failure of damage due to the resonance vibration of the system and create the conditions for the optimal design and reliability research of a spot-welding robot. © 2011 IEEE.

关键词： Vibration analysis

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Rigid-flexible coupling dynamics analysis of a spot-welding robot

Rigid-flexible coupling dynamics analysis of a spot-welding ...

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IEEE International Conference on Cyber Technology in Automation,Control,and Intelligent systems

作者： Luo, Haitao Liu, Yuwang Wang, Hongguang Zhou, Weijia State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Graduate School Chinese Academy of Sciences Beijing 100049 China

ISBN: (纸本)9781612849102

This paper studied a dynamics simulation analysis method for a rigid-flexible coupling system of spot-welding robot. The 6R spot-welding robot multi-body dynamics model is created by FEA (finite element analysis) and MBD (multi-body dynamics) software. Based on rigid-flexible coupling analysis method, we analyze mechanics characteristic of upper arm and get the deformation of end measuring point, maximum stress position and stress curve, when spot-welding robot is moving under loads. The analysis method is intuitional and accurate, and can increase the accuracy of dynamic response analysis of parts under the dynamic loads. The simulation results are very important theoretical basis for structure design and optimization of the spot-welding robot. © 2011 IEEE.

关键词： Finite element method

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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

作者： Yin, Liyi Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

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 real-time 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. © 2011 Springer-Verlag.

关键词： Hydraulic actuators

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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

作者： Zhao, Jinsong Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

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 SimMechanics 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. © 2011 Springer-Verlag.

关键词： Flight simulators

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