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International Conference on Electric technology and Civil Engineering (ICETCE)

作者： Jing Tang Nanqi Ren School of Municipal and Environmental Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457702891

Product feedback inhibitions exist in the industrial fermentation process, and limit the production performance of fermentation. Integration of fermentation and separation of fermentative products is the major way to release product inhibition. In-situ separations remove products from the culture media in a timely manner in the fermentation process. It could reduce product inhibition, control pH, and improve the utilization of raw materials and product yield. This paper describes several commonly used product separation methods, with emphasis on applications and advantages of bipolar membrane electrodialysis in fermentative products separation.

关键词： Biomembranes Desalination Hafnium Water Biological system modeling Sugar

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An in vitro investigation of image-guided steerable catheter navigation

An in vitro investigation of image-guided steerable catheter...

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作者： Liu, H. Fu, Y.-L. Zhou, Y.-Y. Li, H.-X. Liang, Z.-G. Wang, S.-G. State Key Laboratory of Robotics and System Harbin Institute of Technology Bio-X Centre Science Park 2 Yikuang Street Nangang District Harbin Heilongjiang 150080 China First Clinical College Harbin Medical University Harbin China

The objective of this study is to provide catheterization with a three-dimensional (3D) guiding image and reduce the collision probability between the catheter tip and vascular wall. A bidirectional steerable catheter was integrated with two magnetic position-tracking sensors on both sides of its bending segment. The tracking information was displayed on the guiding image, which helped the surgeons to determine the relative position between the catheter tip and surrounding vessels. The navigation path was generated on the basis of the vascular skeleton. Moreover, along the path, a series of guiding circular planes were set as the guidance for the catheter. Three operations (bending, advancing, and twisting) were jointly conducted to get the catheter through these guiding planes in turn and eventually into the target vessel. The effectiveness of the proposed navigation method was verified by experiments implemented in an aorta vascular phantom. The navigation system has a mean error of 0.19mm, a root mean square of 0.49?mm, and a standard deviation of 0.46?mm.

关键词： Catheters

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DSP ＆ FPGA-based control architecture for a highly integrated robot hand with enhanced impedance performance

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High technology Letters 2010年第2期16卷 178-183页

作者：吴克 Lan Tian Chen Yangbin Liu Yiwei Jin Minghe Fan Shaowei Chen Zhaopeng Liu Hong State Key Labomtory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Ningbo GQY Video ＆ Telecom Stock Joint Co. Ltd Shanghai 201206 P.R. China Institute of Robotics and Mechatronics German Aerospace Center Wessling DLR 82234 Germany

A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP＆FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current （DC） link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.

关键词： impedance control DSP ＆ FPGA direct current （DC） link current sensor robot hand control system

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Configuration design method for in-pipe robot locomotion mechanism

Configuration design method for in-pipe robot locomotion mec...

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International Conference on Digital Manufacturing and Automation

作者： Chen, Jun Chen, Tao Deng, Zong-Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769542867

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design. © 2010 IEEE.

关键词： Topology

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Kinetics model of aerobic phase in hybrid anoxic-oxic process

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Journal of harbin institute of technology(New Series) 2010年第2期17卷 161-165页

作者：孙慧丽陈志强姜涛吕炳南 State Key Laboratory of Urban Water Resource and Environment School of Municipal and Environmental EngineeringHarbin Institute of Technology

Kinetics models of COD degradation,biomass growth of the anoxic-oxic ( A/O) system as well as NH3-N degradation in aerobic phase were presented according to the mass balance theory,reaction-diffusion theory and Fick law. Then these models were testified by comparson with experimental results. It is demonstrated that the variation trends of theoretical and experimental values for COD degradation and biomass growth are similar. The deviation rate between theoretical and experimental values is always under 20% even it increases along with the fluctuation of influent organic loading. In terms of NH3-N degradation,nitrification can also be well simulated by the model as the substrates of influent are sufficient. It indicates that the model can accurately reflect the reaction in hybrid A/O process. Models presented herein provide a theoretical basis for the design, operation and control of hybrid A/O process.

关键词： hybrid anoxic-oxic process aerobic phase anoxic phase kinetics model testify

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Catalytic dechlorination of chlorinated methanes by nanoscale Pd/Fe bimetallic particles

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Journal of harbin institute of technology(New Series) 2010年第1期17卷 24-28页

作者：王向宇刘惠玲 School of Municipal and Environmental Engineering State Key Laboratory of Urban Water Resources and EnvironmentHarbin Institute of Technology

This paper examined the potential of using laboratory-synthesized nanoscale Pd/Fe bimetallic particles to dechlorinate chlorinated methanes, including dichloromethane (DCM), trichloromethane (CF) and tetrachloromethane (CT). Nanoscale Pd/Fe bimetallic particles were characterized in terms of surface area, morphology, size and structure. The parameters affecting the dechlorination efficiency were studied through batch experiments. Effects of Pd content, Pd/Fe addition, and the initial pH value of reaction system on the dechlorination efficiency of chlorinated methanes were determined systematically. Results show that nanoscale Pd/Fe bimetallic particles play a prominent role in the dechlorination of chlorinated methanes. The change of pH value and ferrous ion concentration during dechlorination reaction were also investigated in this study. It is found that the dechlorination efficiency of chlorinated methanes is in the order of CT>CF>DCM.

关键词： nanoscale Pd/Fe bimetallic particles chlorinated methane dechlorination

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Development of a robot system assisting artificial cervical disc replacement surgery

Development of a robot system assisting artificial cervical ...

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IEEE International Conference on robotics and Biomimetics

作者： Heqiang Tian Dongmei Wu Zhijiang Du Junlin Ma Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin 150080 China

ISBN: (纸本)9781424493197

The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a passive serial body assisting the artificial cervical disc replacement surgery is proposed. Then, the workspace analysis and control system design of the parallel robot are presented. Finally, the surgical navigation technologies such as surgical planning, surgical navigation and positioning, and the grinding trajectory planning technologies involved in the robot system assisting the cervical artificial disc replacement surgery are described. It can be seen that the robot-assisted cervical artificial disc replacement surgery has opened up a new way for the cervical disease treatment.

关键词： Surgery Robot kinematics Planning Brushless motors Optical imaging Biomedical optical imaging

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Teleoperation system of Internet-Based Multi-Operator Multi-Mobile-Manipulator

Teleoperation System of Internet-Based Multi-Operator Multi-...

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International Conference on Electrical and Control Engineering (ICECE)

作者： Liang Ma Jihong Yan Jie Zhao Zhifeng Chen Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc.. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control the remote robots via Internet. The 9-DOF mobile-manipulators which combine the mobility of the omnidirectional mobile plat and the manipulability of the manipulator are located in the slave side. Modules of ultrasonic location and ultrasonic/infrared distance measurement are arranged on the mobile-manipulators, and six-axis force sensors are fixed on the wrist of mobile-manipulators. Six video cameras are installed in slave side to provide the operators multi-video image. A network server collects the information of the sensors by WLAN and sends them to operators through net. With the aid of real-time multi-video image and feedbacks, operators could control the robots to complete the task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operators control the robots to complete the role of delivering and transporting via Internet, and achieve loose coordination, mobile tight coordination and operated tight coordination teleoperation.

关键词： Robot kinematics Internet Robot sensing systems Fuels Manipulators Conferences

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Dynamics and motion control of a two pendulums driven spherical robot

Dynamics and motion control of a two pendulums driven spheri...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bo Zhao Mantian Li Haitao Yu Haiyan Hu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot, which is moving simultaneously actuated by both eccentric moment and inertial moment generated by the two pendulums. Meanwhile the mobility is enhanced when the robot behaves dynamically. The emphasis is placed on the linear motion and turning in place motion control. The dynamic model of linear motion is formulated on the basis of Lagrange equation, and a smooth trajectory planning method is proposed for linear motion. A feedback controller is constructed to ensure the accurate trajectory planning. Turning in place motion is an indispensable element of omni directional locomotion which can enhance the mobility of spherical robots. The dynamic model of turning in place motion is derived on the theory of moment of momentum, and a stick-slip principle is analyzed. The two motion control methods are validated by both simulations and prototype experiments.

关键词： Robots Turning Dynamics Trajectory Planning Mathematical model

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Pose planning for robotically assisted minimally invasive surgery

Pose planning for robotically assisted minimally invasive su...

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International Conference on BioMedical Engineering and Informatics (BMEI)

作者： Gang Li Dongmei Wu Ruqi Ma Kai Huang Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robotically assisted minimally invasive surgery (RAMIS) is an increasingly important technology, which leads to great advances in the field of general surgery. However, the potential of this technology is constrained by the collision occurred during the operation. One effective solution to this problem is through an efficient preoperative planning for the robotic system, including port placement, robot base placement and pose planning. This paper mainly discusses the pose planning problem, referred to as the initial configuration of stationary joints, and describes a pose planning method for the minimally invasive robotic surgery system currently under developed. This method utilizes an optimization procedure, which includes criteria to guarantee a collision-avoidance operation, under the constraint of ensuring the fixed positions of entry port in patient's body, to position the stationary joints at the beginning of the operation properly.

关键词： Manipulators Joints Planning Surgery Robot kinematics Instruments

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