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Multiple-Pursuer Cooperative Multiple-Evader Games based on auction mechanism

harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2010年第SUPPL. 2期42卷 160-164页

作者： Cai, Ze-Su Hong, Bing-Rong Sun, Li-Ning State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

This paper mainly discusses Multiple-Pursuer Cooperative Multiple-Evader Games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional Contract Net protocol is extended, including the motivational vector of robot, the trust degree and the acquaintance degree to improve the alliance decision. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on auction was proposed in this paper. It allocated task dynamically through capability classification and independent competition. It can support the dynamically changing capability of each agent and reduce the cost of communication and the difficulty of acquiring knowledge. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multipurpose robots

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An interventional treatment plan system design on liver tumor

An interventional treatment plan system design on liver tumo...

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International Conference on Image Analysis and Signal Processing, IASP

作者： Xie Xiaohui Zhang Lei Yu Xiaofang Du Ruxu Shenzhen Institute of Advanced Integration Technology Chinese University of Hong Kong Shenzhen Hong Kong China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Science and Technology Harbin China ShenZhen People's Hospital Shenzhen China

Interventional treatment becomes increasingly popular since this technique means substantially less trauma for the patient. By using VTK and ITK to build a plan system, the treatment can be high efficiency. VTK is responsible for visualization, while ITK takes care of the image segmentation and registration. By combining VTK and ITK, and using Qt as the user interface, an interventional treatment plan system is built. This system has finished several mainly functions, like DICOM data displaying in multi-planar reformation, manual segmentation, semi-automatic segmentation, surface rendering using marching cubes algorithm, volume rendering using volume ray casting algorithm. Also an interventional treatment plan system has been developed based on the medical inspection.

关键词： Liver neoplasms Image segmentation Medical treatment Rendering (computer graphics) Data visualization User interfaces DICOM Surface finishing Surface treatment Casting

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Balancing control of a unicycle riding

Balancing control of a unicycle riding

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作者： Shao, Zhiyu Liu, Daliang State Key Laboratory of Explosion Science and Technology Beijing Institute of Technology Beijing 100081 China College of Electric Engineering and Automation Harbin Institute of Technology Harbin 150001 China Time Group Inc. Sub-Station Workstation of Zhongguancun Haidian Science Park Beijing 100085 China

ISBN: (纸本)9787894631046

Using gyroscopes to power human forwards and backwards only a single wheel is needed to make a ridable vehicle which will be much smaller and lighter. In order to retain dynamic and static stabilities of the vehicle, a self-balancing stabilized unicycle robot is proposed for human riding. The actuation and balancing mechanism consists of two separate actuators: the drive motor causes forward and backward acceleration, by driving the wheel directly through. The spin motor spins a suspended flywheel at a high rate, imparting dynamic stability to the robot in the lateral plane (only leaning to the left or right, no leaning to the front or back). In this paper, the unicycle robot system is simplified to the inverted pendulum subsystem and the inertial-wheel pendulum subsystem. Based on the modeling method of the under-actuated mechanical system, the dynamics in the longitudinal plane and the lateral plane are developed respectively. Then a LQG structure to balance the unicycle robot at the vertical position is designed by linearizing the dynamic equations. Finally, the feasibility of the models and the controllers are verified by using the simulation results.

关键词： Inverted pendulum

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The construction of metagenome of metal-contaminated river sediments and screening heavy-metal resistant gene

The construction of metagenome of metal-contaminated river s...

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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： Lei Wang Pei shi Qi Ming Xin State Key Laboratory of Urban Water Resources and Environment Harbin Institute of Technology Harbin Laboratory of vegetables Northeast Agricultural University City Harbin China

Metagenome is a fast developing cultivation independent technology, which is useful in addressing evolutionary and ecological relationship of microbial communities, also quite challenging to research function genes. Here we improved DNA extraction method and the DNA extracted is of high yield and allows direct 16S rDNA PCR amplification. we used the high-molecular-weight bacterial DNA to construct sediment metagenomic library. The metagenomic library of river sediments polluted was constructed, and then was estimated by digested clones selected randomly by BamH I. The metagenomic library containing 6,000 clones was constructed into pUC18 vector. An positive clones was selected by functional screening of the library. A Zn-Cd resistance active gene designated Mtx was identified by subcloning, sequencing and expression. This Mtx gene encodes cation-proton-antiporter belonging to Czc family, which is most related to the Czc R gene from Ralstonia sp. CH34 with 93% similarity.

关键词： Rivers Sediments DNA Immune system Microorganisms Libraries Cloning Pollution Biochemistry Sampling methods

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Design of a control system for a macro-micro dual-drive high acceleration high precision positioning stage for IC packaging

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Science China(Technological Sciences) 2009年第7期52卷 1858-1865页

作者： LIU YanJie LI Teng SUN LiNing State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.

关键词： macro-micro dual-drive positioning stage control system friction LQG

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Capillary Forces between Submillimeter Spheres and Flat Surfaces at Constant Liquid Volumes

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Chinese Physics Letters 2009年第12期26卷 198-201页

作者：王乐锋荣伟彬孙立宁陈立国邵兵 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

We investigate the capillary forces between submillimeter spheres and flat surfaces at constant liquid volumes theoretically and experimentally. An iterative method is used to estimate the capillary force with contact angles as the boundary conditions and the constant volume as a constraint. The theoretical analysis shows that the maximum capillary force between them decreases with the increase of the liquid bridge volume at small contact angles. The experimental results show that the force is smaller than the theoretical values at the initial separation distances. It is also observed that the force first increases and then decreases with an increasing separation distance in some cases. These phenomena of capillary forces hysteresis are explained according to the wetting hysteresis.

关键词： Soft matter liquids and polymers Surfaces interfaces and thin films

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Design of a novel finger of DLR/HIT dextrous robot hand based on mechatronic integration

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Journal of harbin institute of technology(New Series) 2009年第3期16卷 376-381页

作者：刘伊威赵京东金明河刘宏 State Key Laboratory of Robotics and System Harbin Institute of Technology

With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.

关键词： robotic hand sensors mechatronic integration

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Design and implementation of a modular self-reconfigurable robot

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High technology Letters 2009年第3期15卷 227-232页

作者：赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel modular self-reconfigurable robot called UBot is *** robot consists of severalstandard *** module is cubic structure based on double rotational DOF,and has four connect-ing surfaces that can connect to adjacent modules.A hook-type mechanism is designed,which can quick-ly and reliably connect to or disconnect from adjacent *** mechanism is self-locking after con-nected,and *** achieve small overall size and mass,compact mechanical structures andelectrical systems are adopted in modular *** modules have embedded power supply and adoptwireless communication,which can avoid cable-winding and improve flexibility of locomotion and self-re-configuration.A group of UBot modules can adapt their configuration and function to the changing envi-ronment without external help by changing their connections and positions .The basic motion and self-re-configuration are proposed,and the experiments of worm-like locomotion are implemented.

关键词： self-reconfigurable robot modular twin-rotation connecting mechanism

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A tool-path interpolation algorithm based on unfolding-bending parametric curves

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key Engineering Materials 2009年 407-408卷 220-224页

作者： Fan, Licheng Sun, Lining Du, Zhijiang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9780878493388

To grind sculptured surface by swing motion, it's needed to interpolate the discrete data nodes on the arc-driving surface. To ensure that all the sample points locate on the arc surface, a novel unfolding parameter curve is proposed. Firstly, all the discrete data are stretched onto a plane, inside hich the cubic B-spline curves are interpolated. After that, some points are sampled from the spline curves and bended to the arc-driving surface according to the swing radius. To eliminate cutting vibration and chord error exceeds limitation;radial speed is tuned by controlling the chord error. The simulation results are given to prove the proposed algorithm. © (2009) Trans Tech Publications, Switzerland.

关键词： Curve fitting

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A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

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High technology Letters 2009年第3期15卷 245-249页

作者：李庆玲 State Key Laboratory of Robotics and System Harbin Institute of Technology

A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.

关键词： rehabilitation robot surface electromyogram （sEMG） passive motions active-resis- tant motions

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