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

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Workspace analysis of a 6-DOF cable-driven parallel robot

Workspace analysis of a 6-DOF cable-driven parallel robot

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中国机构与机器科学国际会议（CCMMS2010）

作者：李朝斌 ZHANG Yu-ru ZHANG Yao-jun DAI Xiao-wei State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang University

This paper presents a 6-DOF cable-driven robot with eight *** on the cables should be limited and larger than *** on the static model,an optimization algorithm is presented to calculate the cable tensions,which could guarantee the minimum power of the motors,and the Wrench Feasible Workspace(WFW) of the robot is analyzed according to the optimization algorithm.

关键词： cable-driven robot 6-DOF Wrench Feasible Workspace

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An approach for pattern recognition of EEG applied in prosthetic hand drive

An approach for pattern recognition of EEG applied in prosth...

引用

International Multi-Conference on Complexity, Informatics and Cybernetics, IMCIC 2010

作者： Zhang, Xiao-Dong Wang, Yun-Xia Li, Yao-Nan Zhang, Jin-Jin School of Mechanical Engineering Xi'an Jiaotong University Xi'an Shaanxi Province710049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province110016 China

ISBN: (纸本)9781934272886

For controlling the prosthetic hand by only electroencephalogram (EEG), it has become the hot spot in robotics research to set up a direct communication and control channel between human brain and prosthetic hand. In this paper, the EEG signal is analyzed based on multi-complicated hand activities. And then, two methods of EEG pattern recognition are investigated, a neural prosthesis hand system driven by BCI is set up, which can complete four kinds of actions (arm's free state, arm movement, hand crawl, hand open). Through several times of off-line and on-line experiments, the result shows that the neural prosthesis hand system driven by BCI is reasonable and feasible, the C-support vector classifiers-based method is better than BP neural network on the EEG pattern recognition for multi-complicated hand activities.

关键词： Brain computer interface

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Illumination compensation for face image using retinex method based on bilateral filtering

Illumination compensation for face image using retinex metho...

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International Conference on Intelligent Network and Intelligent systems

作者： Yang, Dawei Tang, Yandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Graduate University of the Chinese Academy of Science Beijing 100049 China Shenyang Ligong University Shenyang 110159 China

ISBN: (纸本)9780769542492

Illumination variation is one of the critical factors affecting face recognition rate. In the paper, we propose a novel Retinex method based on bilateral filtering to compensate the illumination for face image. The proposed method estimates the illumination using the bilateral filtering, and applies the Retinex theory to obtain the reflectance image which is illumination invariant. The experimental results validate the performance of the method. © 2010 IEEE.

关键词： Face recognition

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Local shape patch based object detection

Local shape patch based object detection

引用

International Conference on Information and Automation (ICIA)

作者： Zhijiang Du Chen Guodong Lining Sun Junhong Ji Ming Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method.

关键词： Shape Object detection Image segmentation Context modeling Histograms Biological system modeling robotics and automation Image edge detection Feature extraction Sun

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Stiffness Measurement of Burkitt’s Lymphoma Cells with Atomic Force Microscopy

Stiffness Measurement of Burkitt’s Lymphoma Cells with Atom...

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The 4th International Conference on Bioinformatics and Biomedical Engineering(第四届IEEE生物信息与生物医学工程国际会议 iCBBE 2010)

作者： Mi Li Zaili Dong Lianqing Liu Yuechao Wang Ning Xi Weijing Zhang Xiubin Xiao State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Gra State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dep Department of Lyphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071

Cell stiffness is closely related to human health and diseases. Measuring the mechanical property of individual cells may help us to understand the mechanism of diseases at cell level and provide new methods for disease diagnosis and personalized treatment. In this paper, the poly-l-lysine was used to immobilize Burkitt's lymphoma (BL) cells onto the glass substrate for being imaged in fluid by atomic force microscopy (AFM). In nearphysiological environment, with the use of AFM, the high resolution morphology image of BL cells was obtained and the mechanical property of BL cells was measured. The detailed processes of the sample preparation and computing the Young's modulus of BL cells from force curves were presented. The experimental result indicated that the Young's modulus of BL cells fixed by glutaraldehyde was about 1MPa. These results may provide useful knowledge for understanding the mechanism of lymphoma and the application of AFM to cancer diagnosis.

关键词： Atomic measurements Force measurement Atomic force microscopy Diseases Mechanical variables measurement Mechanical factors Cancer Humans Glass Image resolution

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Formation control of multiple AUVs for moth-inspired plume tracing

Formation control of multiple AUVs for moth-inspired plume t...

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20th International Offshore and Polar Engineering Conference, ISOPE-2010

作者： Kang, Xiaodong Li, Wei Xu, Hongli Feng, Xisheng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province China Graduate School of the Chinese Academy of Sciences Beijing China Department of Computer Science California State University Bakersfield CA United States

ISBN: (纸本)9781880653777

This paper presents a novel strategy for multiple autonomous underwater vehicles (AUVs) to trace a chemical plume and to identify its source location in a simulated fluid-advected environment with scales of 100 meters. First, we develop a coordination mechanism for selecting a leader among multiple AUVs which performs moth-inspired plume tracing. Second, we use a formation algorithm to control non-leader AUVs to follow the leader AUV during chemical plume tracing (CPT) missions. We evaluate the proposed strategy using a simulated plume with significant filament intermittency and meander. The studies show that, in comparison with a single moth-inspired AUV tracer, the multiple AUVs significantly reduce the time cost for tracing the plume toward its source and identifying the source location, and improve the accuracy of the declared source locations. Copyright © 2010 by The International Society of Offshore and Polar Engineers (ISOPE).

关键词： Autonomous underwater vehicles

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Nanochannels on silicon oxide surface fabricated by atomic force microscopy

Nanochannels on silicon oxide surface fabricated by atomic f...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems

作者： Wang, Zhi-Qian Tung, Steve Jiao, Nian-Dong Dong, Zai-Li State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Graduate University Chinese Academy of Sciences Beijing 100049 China Mechanical Engineering University of Arkansas Fayetteville AR United States

ISBN: (纸本)9781424465439

An experimental study was conducted to investigate the feasibility of fabricating relatively long nanochannels on hard and brittle silicon dioxide surface using atomic force microscopy (AFM) based lithography. Specifically, the relationship between the applied AFM tip force and the resultant nanochannel depth was measured and analyzed. The nanochannels were fabricated by two different AFM lithographic methods. In the first method, a constant tip force was applied and the maximum channel depth achievable was about 15nm. In the second method, a gradually increasing tip force was used and a much larger channel depth of 28nm was achieved. The average depth along the entire channel length was about 15nm. Based on the current results, it can be concluded that AFM based lithography is a viable nanomachining technique for realizing long nanochannels on silicon based substrates. ©2010 IEEE.

关键词： Atomic force microscopy

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A semi-physical simulation framework for multiple unmanned underwater vehicles

A semi-physical simulation framework for multiple unmanned u...

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Chinese Control and Decision Conference, CCDC

作者： Shenzhen Ren Liang Tan Yiping Li Xisheng Feng State Key Laboratory of Robotics Shenyang institute of automation Chinese Academy of Science 110016 China

A semi-physical simulation framework for multiple unmanned underwater vehicles' (UUVs) coordinate operation, which can complete large-scale reconnaissance in civil, academic military application, is presented. The structure of simulation framework consists of virtual environment unit, vision display unit and UUV control unit. The primary motivation of this simulation framework is test the UUV control unit in order to transplant the control unit in real UUV fleetly and reliably. The software architecture of control unit which is based on multi-agent system, consists of coordination layer, task layer, behavior layer and physical layer, is developed in real-time operation system VxWorks. The significant power of the semi-physical simulation framework is provide a platform to validate the coordinate operation and control strategy of UUV in dynamic environment, and the maturity and stability of the entire control system.

关键词： Underwater vehicles Large-scale systems Reconnaissance Application software Virtual environment Displays Testing Power system reliability Software architecture Control systems

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Research on the structure singular value robust control of underwater vehicle

Research on the structure singular value robust control of u...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Kaizhou Liu Wei Guo Xiaohui Wang Xisheng Feng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

In order to fulfill high accurately control of HOV' dynamic positioning on the condition of multiple uncertainties, and overcome the guarantee of the H ∞ robust controller, a robust controller based on structure singular value theory was designed for deep sea HOV. Dynamic positioning test and comparison test between difference control arithmetic were carried out on the semi-physical simulation platform. The results showed that the controller designed take effect on the disturbance and parameter changing of HOV.

关键词： Underwater vehicles Periodic structures Robust control Vehicles Vehicle dynamics Automation Robots

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Development of an amphibious snake-like robot

Development of an amphibious snake-like robot

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World Congress on Intelligent Control and Automation (WCICA)

作者： Bin Li Shugen Ma Changlong Ye Shumei Yu Guowei Zhang Haili Gong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

This paper presents an amphibious snake-like robot's design. This amphibious snake-like robot, mainly composed by 8 Modular Universal Units, is waterproof and can move smoothly in the water while pressurized with O-rings and other essential accessories. The control equations for each gait are introduced. Due to its special joint design and the feature of being densely covered by vanes, the robot is endowed with an omnipotent ability of amphibious locomotion. Experiments both on the land and in the water have been made to testify the function of the amphibious snake-like robot.

关键词： Robots Electronic mail Automation Pulse width modulation Equations Joints

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