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Detection parameters design for multi-beam sounding system based on target recognition

Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 677-683页

作者： Wu, Li-Hong Xu, Wen-Hai Zang, Li-Long An, Yang Yang, Shuai-Feng Cai, Ren-Jie College of Transportation Equipment and Ocean Engineering Dalian Maritime University Dalian 116026 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Acad. of Sci. Shenyang 110016 China College of Information Science and Technology Dalian Maritime University Dalian 116026 China Qingdao Marine Research Equipment Service Co. Ltd. Qingdao 266000 China

To detect sea floor objects fast, accurately and effectively in large-scale underwater region, a design way for detection factors related to ping-length, ship velocity and coverage-width was derived by analyzing GeoSwath's theory, spatial resolution and target resolution factors. The experiments to detect artificial objects in sea floor were carried out. The results show the importance and rationality to set detection factors of GeoSwath.

关键词： Object detection

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Design and Analysis of a New Cable-Driven Hyper Redundant Manipulator

Design and Analysis of a New Cable-Driven Hyper Redundant Ma...

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2010 International Conference on Intelligent Computation Technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

作者： Zhao Qiang Gao Fang State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424472796

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective.

关键词： hyper-redundant manipulator cable-driven actuation design displacement simulation

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DESIGN, MODELING, AND MICROMANIPULATION EXPERIMENTS OF A NOVEL 2-D MICRO FORCE SENSOR

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International Journal of Information Acquisition 2010年第1期7卷 51-57页

作者： YIYANG LIU YUECHAO WANG PENG YU ZAILI DONG State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Graduate School of the Chinese Academy of Sciences China

Because of the micro/nano manipulation's complexity, the accurate feedback information of the micro interactive force acting on micro devices is quite important and necessary for micro/nano manipulation, especially the 2-D micro interactive force feedback information. At present, there are no reliable and accurate 2-D micro force sensors applied in micro/nano manipulation. To solve the above problem, a novel 2-D micro force sensor that can reliably measure force in the range of submicro Newton (μN) is designed and developed in this paper. Based on the model of 1-D micro force sensor designed by us, the model of this 2-D sensor is set up. To verify the model of the 2-D sensor, micromanipulation experiments are designed and realized. Experiment results show the submicro Newton resolution, and verify the validity of the 2-D sensor's model. The developed 2-D micro force sensor will contribute to promoting the complexity of micro/nano manipulation, and will facilitate to automate the micro/nano manipulation.

关键词： Micromanipulation 2-D micro force sensor

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Detecting CD20-Rituximab specific interactions on lymphoma cells using atomic force microscopy

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Science China(Life Sciences) 2010年第10期53卷 1189-1195页

作者： LI Mi LIU LianQing XI Ning WANG YueChao DONG ZaiLi LI GuangYong XIAO XiuBin ZHANG WeiJing State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Department of Electrical and Computer Engineering Michigan State UniversityEast Lansing 48824USA Department of Electrical and Computer Engineering University of PittsburghPittsburgh 15261USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing 100071China Graduate University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China

Elucidating the underlying mechanisms of cell physiology is currently an important research topic in life sciences. Atomic force microscopy methods can be used to investigate these molecular mechanisms. In this study, single-molecule force spectroscopy was used to explore the specific recognition between the CD20 antigen and anti-CD20 antibody Rituximab on B lymphoma cells under near-physiological conditions. The CD20-Rituximab specific binding force was measured through tip functionalization. Distribution of CD20 on the B lymphoma cells was visualized three-dimensionally. In addition, the relationship between the intramolecular force and the molecular extension of the CD20-Rituximab complex was analyzed under an external force. These results facilitate further investigation of the mechanism of Rituximab’s anti-cancer effect.

关键词： atomic force microscopy single-molecule force spectroscopy CD20 antigen Rituximab

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Two-mode system for tank gunnery skill training based on haptic interaction

Two-mode system for tank gunnery skill training based on hap...

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IEEE International Conference on Mechatronics and Automation

作者： Keke Lu Guanyang Liu Yuru Zhang Weidong Guo Moyuan Zhou State Key Laboratory of Virtual Reality Technology and Systems (VRLab) and Robotics Institute Beihang University Beijing China VRLab and Robotics Institute Beihang University Beijing China

A study on tank gunnery motor skill training is introduced in this paper. We developed a two-mode system used for teaching and training. In the haptic guidance mode, the trainee is passive and experiences position playback of the expert's motion with a proportional-derivation (PD) controller. In the path constraining mode, the trainee operates the haptic device actively, and the aiming point in the virtual environment is constrained on the desired path. A new haptic rendering algorithm is introduced in this mode. An experiment for record-play motion of drawing a virtual sine path and path constraining with drawing an envelope path is designed. Results indicate that the haptic rendering algorithm in the two-mode training system is stable.

关键词： Haptic interfaces Training Force Virtual environment Fixtures Rendering (computer graphics) Visualization

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Design of a novel serial and parallel force feedback master manipulator

Design of a novel serial and parallel force feedback master ...

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IEEE International Conference on robotics and Biomimetics

作者： Hongmin Wang Dongmei Wu Zhijiang Du Zhiyuan Yan Changjun Li State Key Laboratory of Robotics and System Hit Limited Harbin China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin China

ISBN: (纸本)9781424493197

This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator such as parallel mechanism inverse kinematics and forward kinematics, jacobian matrix and serial mechanism kinematics are given. Thirdly, the master manipulator workspace is analyzed, and the master manipulator static stiffness for the three points in the workspace is also analyzed. Finally, the force feedback simulation experiment is carried out to verify the parallel mechanism force feedback. It can be seen that this novel serial and parallel master manipulator meets the design requirements and future force feedback.

关键词： Manipulators Force feedback Kinematics Force Clamps Equations

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Cooperative reconfiguration between two specific configurations for a shape-shifting robot

Cooperative reconfiguration between two specific configurati...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Bin Li Shugen Ma Tonglin Liu Minghui Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Department of Robotics Ritsumeikan University Kusatsu Shiga Japan

A shape-shifting mobile robot named AMOEBA-I has diverse configurations. Cooperative reconfiguration is presented to improve the robot's reconfigurable ability and adaptability in unstructured environments. Cooperative reconfiguration method is analyzed theoretically. A mathematical model is established correspondingly and the kinematical relations among the three modules during the cooperative reconfiguration are determined. The transformation is implemented between two specific configurations. Then, an evaluation is proposed for AMOEBA-I's cooperative reconfiguration performance. The feature of cooperative reconfiguration methods is compared through the theoretical analysis and experiments. Experimental results prove the validity of the cooperative reconfiguration methods on various grounds.

关键词： Robot sensing systems Joints Force Transforms Resistance

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Kinematics and workspace analysis of an exoskeleton for thumb and index finger rehabilitation

Kinematics and workspace analysis of an exoskeleton for thum...

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IEEE International Conference on robotics and Biomimetics

作者： Ruoyin Zheng Jiting Li State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493197

For the human hand rehabilitation, the palmar opposition is an important function to evaluate the recovery of hand motor capabilities. This paper proposes an exoskeleton-type hand rehabilitation assistive device which is able to be applied to index finger as well as thumb. The kinematics and workspace of index fingertip and thumb-tip are analyzed. The `opposition space' is defined as the intersection of the workspace of thumb-tip and the index fingertip. A metric, what we call `opposition degree', which is defined as the ratio of volume of opposition space to that of the index fingertip workspace, is proposed to present the available degree of opposition. As an example, the opposition degree of a human hand model is determined. This metric can also used to rate the ergonomic performance of the hand rehabilitation assistive device. This method can be applied to other fingers as well. The opposition simulation experiment is conducted to verify the kinematics of the proposed exoskeleton.

关键词： Indexes Fingers Thumb Exoskeletons Joints Kinematics Mathematical model

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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International Conference on Information and Automation (ICIA)

作者： Fujun He Zhijiang Du Xiaolei Liu Yueyue Ta Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result.

关键词： Radar tracking Mobile robots Robot sensing systems Robot kinematics Laser radar robotics and automation Helium Laser modes Particle tracking Nonlinear systems

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Comparing of LPC-EKF, LPC-UKF in UUV bearings-only tracking systems

Comparing of LPC-EKF, LPC-UKF in UUV bearings-only tracking ...

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OCEANS - Europe

作者： J. Xu S. Ren X. Feng C. Lin State Key Laboratory of Robotics Shenyang Institute of Automation Liaoning China Chinese Academy and Sciences China

Unmanned underwater vehicles have various missions within civilian, military and academic sectors. They have the ability to explore areas unavailable to manned assets and to perform duties that are risky to humans. In particular, UUVs have the ability to perform bearings-only tracking in shallow areas near shorelines. This article compares a Logarithmic Polar Coordinates EKF (LPC-EKF) and Logarithmic Polar UKF (LPC-UKF) for the estimation problem. Its objective is to track the kinematics (position, velocity and course) of a moving target using noise-corrupted bearing measurements.

关键词： Mathematical model Equations Estimation Vectors Trajectory Target tracking Covariance matrix

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