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Effect of pipe material and low level disinfectants on biofilm development in a simulated drinking water distribution system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2009年第5期10卷 725-731页

作者： Ling-ling ZHOU Yong-ji ZHANG Gui-bai LI School of Municipal Environmental Engineering Harbin Institute of Technology Harbin 150090 China State Key Laboratory of Pollution Control and Resources Reuse Tongji University Shanghai 200092 China

The efficiency of chlorine and chloramines disinfection on biofilm development in a simulated drinking water distribution system was investigated by using heterotrophic bacterial spread plate technique. The experiments were carried out with four annular reactors (ARs) with stainless steel (SS) or copper (Cu) material slides. The results showed that there were fewer bacteria attached to Cu slides without a disinfectant compared with those attached to SS slides. When the water was disinfected with chloramines, the heterotrophic plate counts (HPCs) on the biofilm attached to the Cu slides were significantly lower (by 3.46 log CFU/cm2) than those attached to the SS slides. Likewise, the biofilm HPC numbers on the Cu slides were slightly lower (by 1.19 log CFU/cm2) than those on the SS slides disinfected with chlorine. In a quasi-steady state, the HPC levels on Cu slides can be reduced to 3.0 log CFU/cm2 with chlorine and to about 0.9 log CFU/cm2 with chloramines. The addition of chloramines resulted in a more efficient reduction of biofilm heterotrophic bacteria than did chlorine. We concluded that the chlorine and chloramines levels usually employed in water distribution system were not sufficient to prevent the growth and development of microbial biofilm. The combination of copper pipe slides and chloramines as the disinfectant was the most efficient combination to bring about diminished bacterial levels.

关键词： Copper （Cu） Stainless steel （SS） Biofilm Heterotrophic plate counts （HPCs） Chlorine Chloramines

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Design and fabrication of a four-arm-structure MEMS gripper

Design and fabrication of a four-arm-structure MEMS gripper

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作者： Chen, Tao Chen, Liguo Sun, Lining Li, Xinxin State Key Laboratory of Robotics and Systems Robotics Institute Harbin Institute of Technology Harbin 150080 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystems and Information Technology Chinese Academy of Sciences Shanghai 200050 China

This paper is focused on the design and fabrication of a four-arm-structure microelectromechanical systems gripper integrated with sidewall piezoresistive force sensors. Surface and bulk micromachining technologies are employed to fabricate the microgripper from a single-crystal silicon wafer (i.e., no silicon-on-insulator wafer is used). A vertical sidewall surface piezoresistor etching technique is used to form the side direction force sensors. The end effector of this gripper is a four-arm structure: two fixed cantilever arms integrated with piezoresistive sensors are designed to sense the gripping force. The resolution of the force sensor is in the micronewton range and, therefore, provides feedback of the forces that dominate the micromanipulation processes. An electrostatically driven microactuator is designed to provide the force to operate the other two movable arms. In this way, it creates a deflection of 25 μm at the arm tip, and the range of the operation is 30-130 μm. Experimental results show that it can successfully provide force sensing and play a main role in preventing the damage of microparts in micromanipulation and microassembly tasks. © 2009 IEEE.

关键词： MEMS

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A mobile self-reconfigurable robot based on modularity

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High technology Letters 2009年第1期15卷 26-31页

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

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.

关键词： self-reconfigurable robot mobility modularity docking

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Modified particle filter algorithm for mobile robot simultaneous localization and mapping

Modified particle filter algorithm for mobile robot simultan...

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International technology and Innovation Conference 2009, ITIC 2009

作者： Wang, Zhongmin Miao, Dehua Du, Zhijiang Tianjin Key Laboratory of High Speed Cutting and Precision Machining Tianjin University of Technology and Education Tianjin 300222 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781849191395

Simultaneous localization and mapping (SLAM) is an important topic in the autonomous mobile robot research. A modified Rao-Blackwellised particle filter (MRBPF) algorithm is proposed for the mobile robot to SLAM, which can simultaneously localize the robot and build up the map in the structured indoor environment. Firstly, MRBPF respectively uses particle filters (PF) to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, it adapts the re-sampling process based on the effective sample size (ESS), and improves the computation methods of sample weights so as to guarantee MRBPF to have enough re-sampling numbers. Furthermore, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experimental results show that MRBPF-SLAM performs well on both weight variance and the number of effective samples. More over, the estimation accuracy of path and map is improved to some extent, and the simulation results also indicate that the methods are valid.

关键词： Mobile robots

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Camera calibration based on extended Kalman filter using robot's arm motion

Camera calibration based on extended Kalman filter using rob...

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2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

作者： Guodong, Chen Zeyang, Xia Xie, Ming Sun, Lining Junhong, Ji Zhijiang, Du State Key Laboratory of Robotics and System Harbin Institute of Technology China Nanyang Technological University Singapore Singapore Nanyang Technological University Singapore Harbin Institute of Technology Nanyang Technological University China

ISBN: (纸本)9781424428533

This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman Filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a reference coordinate system and camera coordinate system can not get in high precision, in this paper, a method based on the arm motion is discussed. ©2009 IEEE.

关键词： Extended Kalman filters

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Inflection point identifying of weld seam based on force sensing in tele-teaching

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China Welding 2009年第4期18卷 59-62页

作者：刘立君高洪明吴林 Ningbo Institute of Technology. Zhejiang University Ningbo 315100. State Key Laboratory of Advanced Welding Production Teehnology Harbin Institute of Technology Harbin 150001

Weld seam inflection points are inevitable in tele-teaching process on many welding occasions. The inflection points identified accurately is one of the prerequisites of ensuring tele-teaching precision. On the basis of the inflection point characters, the concept of inflection point direction coefficient is proposed, the human-simulation intelligent control model of inflection point is established. The algorithms above, the inflection point identifying of box workpiece can be well performed. The experimental results show that the identifying average error of inflection point can be reduced to less than O. 5 mm by using optimal treatment of robot off-line programming system. The identifying control can automatically identify weld seam inflection points which can meet tele-teaching requirements.

关键词： tele-teaching force sensing weld seam inflection point

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Mobile self-reconfigurable robot based on modularity

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High technology Letters 2009年第1期15卷 26-31页

作者： Zhong, Ming Guo, Wei Xu, Ji'an Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines (ARM) based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented. Copyright © by High technology Letters Press.

关键词： Cameras

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Development of a continuum robot for colonoscopy

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High technology Letters 2009年第2期15卷 115-119页

作者： Hu, Haiyan Li, Mantian Wang, Pengfei Feng, Yuan Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A novel continuum robot for colonoscopy is presented. The aim is to develop a robot for colonoscopy which can provide the same functions as conventional colonoscope, but much less pain and discomfort for patient. In contrast to traditional rigid-link robot, the robot features a continuous backbone with no joints. The continuum robot is 300 mm in total length and 12 mm in diameter that is less than the average diameter of human colon (20 mm). The robot has a total of 4 DOF (degrees of freedom) and is actuated remotely by 6 hybrid step motors through super-elastic NiTi wires. Its shape can be changed with high dexterity, therefore ensuring its adaptability to the tortuous shape of human colon. The mechanical structure, kinematics and DSP-based control system are discussed;prototype experiments are carried out to validate the kinematics model and to show the motion performances.

关键词： Kinematics

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Controlled assistance by an exoskeletal rehabilitation robot for upper limbs

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harbin Gongcheng Daxue Xuebao/Journal of harbin Engineering University 2009年第2期30卷 166-170+177页

作者： Li, Qing-Ling Ye, Teng-Mao Du, Zhi-Jiang Sun, Li-Ning Wang, Dong-Yan State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

A novel 5 DOF exoskeletal upper-limb rehabilitation robot was implemented for hemiplegia caused by a stroke. To inspire alertness during active exercise and to promote rehabilitation of an impaired arm, a control method was developed for assisted action during complex motion of upper limbs. Torque signals for each joint were acquired in real time to estimate the magnitude and the orientation of action caused by conscious movement. To follow the intention of hemiplegic patient's movement, a proportional controller was used to control terminal velocity to match motion. Experimental results show that the method presented effectively assists patients' complex arm movements in real time.

关键词： Controllers

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Fast and accurate humanoid robot navigation guided by stereovision

Fast and accurate humanoid robot navigation guided by stereo...

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2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009

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

ISBN: (纸本)9781424426935

Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every step in the whole vision information processing process plays an important role in getting high precision. Less time consuming can make the robot adapt to the changes of environment quickly, especially in dynamic environment. In this paper, two humanoid robot common tasks are chosen as experiments to verify the effectiveness of the proposed methods. Stair climbing experiment verifies the high precision in long distances and also by using the image information to compensate the progressive error caused by long distance walking and moving object grasping experiment verifies the less time consuming. ©2009 IEEE.

关键词： Anthropomorphic robots

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