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IEEE International Conference on Mechatronics and Automation

作者： Chen Guodong Ming Xie Zeyang Xia Lining Sun Junhong Ji Zhijiang Du Wang Lei 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 Technology China

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.

关键词： Humanoid robots Navigation Feedback Robot vision systems Cameras Calibration Image processing Information processing Robot kinematics Legged locomotion

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Treatment of synthetic wastewater by combining submerged MBR technology and aerobic granular technology

Treatment of synthetic wastewater by combining submerged MBR...

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The 3rd International Conference on Bioinformatics and Biomedical Engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

作者： Jian-Qiang Yang Rui-Ling Bao Yu-Lan Wang Shui-Li Yu State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin P State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin P

In order to enhance performances of organics and nitrogen removal for the treatment of synthetic wastewater containing higher concentration of organic solids, nitrogen and phosphorus than conventional biological phosphorus removal process, a submerged membrane bioreactor was combined with an aerobic granules technology (aerobic granular sludge membrane bioreactor, AGSBR) in this research. The results presented a remarkable enhancement of the effluent quality in terms of COD removal and nitrification. Total Nitrogen and TOC removal in a typical cycle revealed good and stable performance during the experimental period. Scanning electron microscopy (SEM) analyses were performed to compare the morphological changes between new and after cleaning membrane surface. The findings indicated that the AGSBR system was in possession of huge potential for controlling membrane fouling.

关键词： Wastewater treatment membrane reactor (MBR) Aerobic granular sludge Aerobic granular sludge membrane bioreactor (AGSBR) Membrane fouling

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Comparative performance between a novel aerobic granular sludge membrane bioreactor and a conventional activated floc sludge membrane bioreactor

Comparative performance between a novel aerobic granular slu...

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The 3rd International Conference on Bioinformatics and Biomedical Engineering(iCBBE 2009)(第三届生物信息与生物医学工程国际会议)

作者： Yu-Lan Wang Shui-Li Yu State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin P State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin P

A novel MBR system as aerobic granular sludge membrane bioreactor (AGSBR) developed for controlling membrane fouling was investigated in this study. In the AGSBR system, the aerobic granular sludge had exhibited to be smooth and nearly round in shape. It exhibited good performance on biodegradation and phosphorus removal when compared with a conventional activated floc sludge membrane bioreactor (AFMBR), which could be responsible for testifying the performance of AGSBR used to treat synthetic wastewater.

关键词： Wastewater treatment membrane reactor (MBR) Aerobic granular sludge Aerobic granular sludge membrane bioreactor (AGSBR) Simultaneous nitrification and denitrification(SND)

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Study of digital control system for seismic simulation test rig

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 342-346页

作者： Cong, Dacheng He, Jingfeng Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The digital control system of a seismic simulation test rig was developed for earthquake waveform replication. The control system was implemented by the two-level distributed network which increases the stability, reliability and safety of the system. The three control variables method (displacement velocity and acceleration) broad the frequency range of the test rig. Accurate waveform replication was realized by vibration control technique based on system identification and iterative algorithm. The experimental results show that the correlation coefficient between the response and the reference was greater than 0.9 after two to three times system identification and iterative control.

关键词： Digital control systems

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Working principle and design of a ring type traveling wave ultrasonic motor using composite transducer

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2009年第SUPPL.期30卷 200-204页

作者： Liu, Yingxiang Liu, Junkao Chen, Weishan Shi, Shengjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A ring type traveling wave ultrasonic motor using composite transducer is proposed. The transducer includes one exponential horn located on leading end, and the horn insect with the ring at tip end. Two degenerate flexural vibration modes spatially and temporally orthogonal to each other in the ring are excited by the transducer. The working principle of proposed motor is analyzed. The stator is designed with FEM. The two vibration modals of stator are degenerated. Transient analysis is developed to gain the vibration characteristics of stator, and results indicate that the motion trajectories of nodes on the teeth are nearly ellipses. Results also indicate the proposed design enables the motor to operate with large vibration amplitude. The results of this paper verify the theoretical feasibility and provide instructions for the development of proposed motor.

关键词： Stators

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Visual tracking strategy based on fuzzy multi visual cue integration

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2009年第8期43卷 33-37页

作者： Zhang, Guoliang Xie, Zongwu Jiang, Zainan Wang, Jie Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

To improve the adaptability of visual tracking system for various circumstances in space, a visual tracking strategy based on fuzzy multi visual cue integration is proposed, which synthesizes multi visual cue together to represent the features of object. The recognition of object is intelligentized by integration of each fuzzy cue. To deal with the effects of noise on segmentation threshold of moving object, a new region-based segmentation is chosen to realize stable clustering of moving region by integrating population statistics and region growing. Compared with conventional local feature recognition, this strategy is adaptive to complex and dynamic circumstances. Redundant information complements each other for ensuring feature recognition and tracking in uncertain environment. Experimental results demonstrate the robust feature recognition and tracking with this strategy, especially in part occlusion and unstable lighting.

关键词： Population statistics

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Path planning method for free-floating space robot in Cartesian space

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Jiqiren/Robot 2009年第2期31卷 187-192页

作者： Zhang, Fu-Hai Fu, Yi-Li Wang, Shu-Guo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

In order to ensure spacecraft attitude stability for the operational free floating space robot (FFSR), a nonholonomic path planning method with zero-disturbance spacecraft attitude in Cartesian space is presented for the FFSR. Firstly, based on the characteristic equation and angular momentum conservation equation of the FFSR, the generalized Jacobian matrix is obtained. Secondly, in order to meet the need of path planning, the reachable workspace of FFSR with zero-disturbance spacecraft attitude is analyzed. Finally, with the introduction of correlative coefficient, the zero-disturbance vector synthesis algorithm in Cartesian space is designed. Simulation results of path planning show that the manipulator end-effector can reach the desired point and the spacecraft attitude is of zero-disturbance simultaneously. Therefore, the feasibility and validity of the presented method are verified.

关键词： Motion planning

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Electricity Generation in Microbial Fuel Cells at Different Temperature and Isolation of Electrogenic Bacteria

Electricity Generation in Microbial Fuel Cells at Different ...

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IEEE PES Asia-Pacific Power and Energy Engineering Conference (APPEEC)

作者： Yujie Feng He Lee Xin Wang Yaolan Liu State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin Heilongjiang CN Department of Environmental Science & Engineering Harbin Institute of Technology Harbin China

Microbial fuel cell (MFC) is a novel device using biomass and microorganism to produce electricity. Three groups of cube-shaped microbial fuel cells were constructed and operated in fed batch at 30degC, 20degC and 15degC, respectively. The Bacteria present in domestic wastewater were inoculated as the biocatalyst, and 1 g/L glucose was fed as substrate during set-up. While the system was stable, the substrate was replaced with domestic wastewater (320mg COD/L) as sole carbon source. Voltage was affected by temperature obviously: compared to that operated at 30degC (434.3mV), the voltage reduced to 382.8mV at 20degC, and 297.0 mV at 15degC, which was tested under the external resistance of 1000Omega. Power density was decreased 54.9% from 30degC to 15degC (Pmax=367.7mW/m 2 at 30degC). The coulombic efficiency of 42.2% at 30degC was over two times higher than that in 15degC (CE=18.4%). However, the COD removal rate was only a slight reduction, decreased from 71.4% (30degC) to 66.2% (15degC). The efficient reactors at different temperature were selected and the biofilm attached on the anode was separated with roll tube method under the facultative anaerobic condition. The same configuration of MFCs was used to evaluate the electrochemical activity of electrogenic bacteria with nutrient broth as substrate. 41 strains were totally separated, whose voltage and power density were measured. Two excellent isolates were obtained, FLL2 and FLL3. The voltage of FLL2 and FLL3 were about 210mV, of which the maximum power density were over 65mW/m 2 . The colony characteristic of excellent electrogenic bacteria were generally smooth, flat, round, yellow and opaque. All obtained strains were brevibacteria with pilus, with the topographic height of several microns, observed under scanning electron microscope (SEM).

关键词： Power generation Fuel cells Temperature Microorganisms Voltage Wastewater Scanning electron microscopy Biomass Sugar Testing

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Effects of Operation Parameters on Nitrification in Up-Flow Biological Aerated Filter Coupled with Zeolite Media at Low Temperature

Effects of Operation Parameters on Nitrification in Up-Flow ...

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International Conference on Energy and Environment technology (ICEET)

作者： Tao Jiang Junguo He Xiaonan Yang Zhiqiang Chen Jie Zhang State Key Laboratory of Urban Water Resources and Environments Harbin Institute of Technology Harbin China

A lab scale biological aerated fiter(BAF) reactor with an effective volume of 12.1 L and zeolite as media is operated at 7°C treating synthetic sewage continuously. The nitrification properties and the impacts of different operation parameters such as HRT, effluent recirculation and COD/NH 3 N(C/N) on this process are studied respectively. The results suggest that the HRT has a great influence on the ammonia removal. The ammonia removal is above 80% at the operation HRT of 4 hours with an obvious comparison of decrease to 37% at 1 hour. Correspondingly, appropriate recirculation can enhance the system performance; an improvement of 13% and 21% ammonia removal can be achieved with 100% and 200% at 2 hours respectively, but only 10% evaluation at 1 hour even with 200% recirculation for the washout of nitrifier in a deduction of reaction time. Experiments with different C/N ratios indicate that as C/N ratios increase, ammonia removal decreases linearly because of the competition in the oxygen uptake between the heterotrophs and nitrifier.

关键词： Filters Temperature Inductors Wastewater treatment Effluents Water storage Surface treatment Shape Helium Water resources

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Simultaneous localization and mapping for mobile robot based on an improved particle filter algorithm

Simultaneous localization and mapping for mobile robot based...

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IEEE International Conference on Mechatronics and Automation

作者： Zhong Min Wang De Hua Miao Zhi Jiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Tianjin University of Technology and Education Tianjin China College of Mechanical Engineering Tianjin University of Technology and Education 300222 China

Simultaneous localization and mapping (SLAM) is an important topic in the autonomous mobile robot research. An improved Rao-Blackwellised particle filter (IRBPF) 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, IRBPF respectively uses particle filters (PF) to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, an adaptive re-sampling technique is used to reduce the times of re-sampling so as to maintain a reasonable speed of samples, thus it reduce the risk of sample depletion. Finally, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experiment results indicate that the IRBPF algorithm builds the consistent map and modified the precision and real-time performance of localization and mapping, the SLAM results show the efficiency of this IRBPF algorithm.

关键词： Simultaneous localization and mapping Mobile robots Particle filters state estimation Frequency estimation Mechatronics robotics and automation Laboratories Indoor environments Probability distribution

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