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A Rapid Quantitative Detection Method for anaerobic denitrifying bacteria(ADNB)

A Rapid Quantitative Detection Method for anaerobic denitrif...

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： Li WEI Fang Ma Xiao-lei LV Ji-xian Yang Qiang Wang Yan-jun Wang State Key Laboratory of Urban Water Resources and Environment Harbin Institute of TechnologyHarbin Department of Life Science and Engineering Harbin Institute of TechnologyHarbin 150001China Depart

There was a long detection circle and higher cost in the quantitative detection of anaerobic deitrifying bacteria(ADNB) in the wastewater of bioreactor and oil field. To solve these issues, the ADNB-MPN-PCR method, combining polymerase chain reaction(PCR) technology with most probable number, was studied as a rapid quantitative detection method for ADNB. The bacterium solution directly used for PCR amplification was prepared from wastewater, which ensured the accuracy of quantification;the universal primers, ADNB341 and ADNB870, located at 16S rDNA genes of ADNB were designed, and the amplified fragment was 548bp;the reaction system and amplification conditions of PCR were also optimized. The results indicate that the order of magnitude of this method is two magnitudes higher than that of MPN-Gries, which truly represents the actual quantity of ADNB in wastewater. The whole procedure takes only 3～4 hours and the results of the detection are extremely stable, so the cost is reduced and ADNB-MPN-PCR can be applied in practical processes.

关键词： Anaerobic deitrifying bacteria Bacterium solution preparation Quantitative detection 16S rDNA ADNB-MPN- PCR assay

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Impact absorption of a dual-crawler-driven robot

Impact absorption of a dual-crawler-driven robot

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IEEE International Conference on robotics and Biomimetics

作者： Qiquan Quan Shugen Ma Rongqiang Liu Bin Li Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation China

This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact that an output redundancy exists inside. To figure out what the advantage of our mechanism to the impact absorption is, impact analysis from the external components of the robot to its internal transmission parts is conducted and the results of impact effect to actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator.

关键词： Absorption Actuators Crawlers robotics and automation Switches Gears Tracking Mobile robots Parallel robots Control systems

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Flexible FPGA-Based Controller Architecture for Five-fingered Dexterous Robot Hand with Effective Impedance Control

Flexible FPGA-Based Controller Architecture for Five-fingere...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Z.P. Chen N.Y. Lii K. Wu H. Liu Z.X. Xue S.W. Fan M.H.Jin Y.W. Liu T. Lan Institute of Robotics and Mechatronics German Aerospace CenterDLR 82234 WesslingGermany Forschungszentrum Informatik (FZI) Haid-und-Neu-Str.10-14 76137 Karlsruhe Germany State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Harbin China

ISBN: (纸本)9781424447749

Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture based controller, one of which is used for data communication control and the other for joint and object level control. High speed (200μs cycle time) multipoint low-voltage differential signaling (LVDS) serial data bus communication between each finger and the controller, Ethernet communication between monitor PC and controller, are all implemented on a single FPGA chip. Experimental results and simulation with a five-figered dexterous robot hand demonstrate that the controller architecture is able to achieve the desired robot hand impedance control performance and effective stable grasping.

关键词： dexterous hand FPGA flexible communication system impedance control grasping

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Capillary Interactions between a Probe Tip and a Nanoparticle

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Chinese Physics Letters 2008年第5期25卷 1795-1798页

作者：孙立宁王乐锋荣伟彬 State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080

To understand capillary interactions between probe tips and nanoparticles under ambient conditions, a theoretical model of capillary forces between them is developed based on the geometric relations. It is found that the contribution of surface tension force to the total capillary force attains to similar order of magnitude as the capillary pressure force in many cases. It is also shown that the tip shape and the radial distance of the meniscus have great influence on the capillary force. The capillary force decreases with the increasing separation distances, and the variance of the contact angles may change the magnitudes of capillary forces several times at large radial distances. The applicability of the symmetric meniscus approximation is discussed.

关键词： ATOMIC-FORCE MICROSCOPE SURFACE NANOMANIPULATION STICTION MEMS

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Continuous Bio-hydrogen Production Using Activated Carbon as Solid Carriers from Molasses Fermentation

Continuous Bio-hydrogen Production Using Activated Carbon as...

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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： Jing Tang Nanqi Ren Ni Zhang State Key Laboratory of Urban Water Resource and Environment School of Municipal and Environmental Engineering Harbin Institute of Technology HarbinChina

Continuous stirred-tank reactor (CSTR) was employed to investigate immobilization technology applied to hydrogen bioproduction with molasses wastewater as *** immobilized system has the better solid fluid separation effect, and without bacteria overflow under high dilution rate (or low retention time), all of which show the potential of degenerating organic matters to molecular hydrogen and realizing continuous and stable hydrogen *** research indicated that, activated carbon inoculated with aerated activated sludge established a good buffer system in the reactor, which could protect the hydrogen production system from exterior impact, expand the activeness applicable scope, further enhance the system 's hydrogen production *** the influent pH value do not adjusted, the system pH value may stabilize in 3.8-4.4, which is optimal for hydrogen production with ethanol type *** reactor with ethanol-type fermentation achieved an optimal hydrogen production rate of 370mlH2/gVSS/d

关键词： biological hydrogen production fermentation type pH activated sludge

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Posture control of a dual-crawler-driven robot

Posture control of a dual-crawler-driven robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qiquan Quan Shugen Ma Bin Li Rongqiang Liu Department of Robotics Ritsumeikan University Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China School of Mechatronics Engineering Harbin Institute of Technology China

This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.

关键词： robotics and automation Crawlers Actuators Mobile robots Control systems Switches Gears Motion control Stability Automatic generation control

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Ecological Footprint Accounting and Analysis Applied to Heilongjiang Province

Ecological Footprint Accounting and Analysis Applied to Heil...

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International Conference on Management and Service Science, MASS

作者： Wei Qiu Kun Wang Qing-liang Zhao Yi-xing Yuan Jun-guo He Chein-chi Chang Song Li Harbin Institute of Technology Harbin Heilongjiang CN State Key Laboratory of Urban Water Resources and Environment Harbin Institute of Technology China Department of Civil and Environmental Engineering University of Maryland Baltimore USA School of Municipal & Environmental Engineering Harbin Institute of Technology China

The strategy of sustainable development is paid more attention by the people in the world. It is urgently to solve such problems by an appropriate method. This article applies ecological footprint to account and analyze the sustainable development of China's Heilongjiang province from 1995 to 2006. The following results were obtained. The arable land contributed most to the ecological footprint among the six components of the ecological footprint per capita of Heilongjiang province. It is consonant with the actual condition. The ecological capacity per capita changed form 2.3136 gha in 1995, declined to 2.2907 gha in 1997, and rose to 2.7701 gha in 2006. The total ecological capacity increased from 1.08 ><107 gha in 1995 to 1.37 times 107 gha in 2006. Although the ecological capacity increased slightly, the increase was slower than that of the ecological footprint. The results show that Heilongjiang province suffered unsustainable from the years 1995 to 2006. The ecological deficit reached the peak in 2000 with 0.9204 gha and it reduced form 2001 to 2006. The main reason was the excess exploitation and consumption of natural resource and improper economical development.

关键词： Water resources Sustainable development Biological system modeling Humans Power generation economics Environmental economics Soil measurements Agriculture Economic indicators Biodiversity

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Research on the mechanics of the HIT/DLR Hand II anthropomorphic five-finger dexterous hand

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harbin Gongcheng Daxue Xuebao/Journal of harbin Engineering University 2009年第2期30卷 171-177页

作者： Fan, Shao-Wei Liu, Yi-Wei Jin, Ming-He Lan, Tian Chen, Zhao-Peng Liu, Hong Zhao, Da-Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China German Aerospace Center Institute of Robotics and Mechatronic Munich 82230 Germany College of Automation Harbin Engineering University Harbin 150001 China

A new anthropomorphic robot with a five-finger dexterous hand-named HIT/DLR Hand II-was developed to make hand appearance and structural functions more anthropomorphic. The hand is composed of an independent palm and five identical modular fingers, and each finger has three degrees of freedom (DOF) and four joints. To meet the mechatronic idea, all actuators, drivers, and electronics were integrated in the fingers and the palm. By using a steel coupling mechanism, the distal phalanx transmission ratio was kept exactly 1:1 over the whole movement range. The packing mechanism which was implemented in the fingers and palm not only reduces the size of whole hand but also makes it more anthropomorphic. The finger size is about one third of the former finger in this innovative design. In additional, the newly designed force/torque and position sensors are well integrated with the hand. It was verified by experiments that the dexterous hand not only met design goals, but also exhibits great grasping capacity.

关键词： Anthropomorphic robots

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CT scan on frozen roadbed soil under dynamic triaxial test condition of Beilu River Section, Qinghai-Tibet Railway of China

CT scan on frozen roadbed soil under dynamic triaxial test c...

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9th International Conference of Chinese Transportation Professionals, ICCTP 2009: Critical Issues in Transportation system Planning, Development, and Management

作者： Wang, Lixia Ling, Xianzhang Zhang, Feng Pu, Yibin Wu, Liquan Jilin Institute of Architecture and Civil Engineering P.O. Box 130021 City Changchun China Institute of Subgrade and Protection Engineering Harbin Institute of Technology P.O. Box 150090 City Harbin China State Key Laboratory of Frozen Soil Engineering CAS P.O. Box 150090 City Lanzhou China School of Civil Engineering and Architecture Zhejiang University of Science and Technology P.O. Box 310023 City Hangzhou China

ISBN: (纸本)9780784410646

As an effective scanning method with no damage, the CT scanning technique is used more widely in studying the dynamic deformation of frozen soil. Aiming at stability and dynamic deformation of frozen soil, the structural change before and after a dynamic tri-axial test, failure type and their main affecting factors of frozen soil taken from roadbed of Qinghai-Tibet Railway are discussed from microstructure according to CT scanning results. It indicates that water content, temperature and confining pressure are the main affecting factors. Change of density, strength and modulus during dynamical deformation decreases with an increase of water content and confining pressure, similarly the changes of the microstructure and structure. When temperature decreases, density, strength and modulus decrease rapidly, but the microstructure and structural changes decreases. When axial dynamic strength decreases, degradation of density, strength, modulus changes from large to small at the beginning and then from small to large, but structure change and demagnification are the reverse of that. The dynamic failure type of the frozen soil depends on the composite in condition of higher water content and lower temperature, but belongs to loose expand and border cracking when water content is lower, belongs to equally expand type when confining pressure or temperature is higher, belongs to composite and uniform expand type when confining pressure is lower and water content is higher, and belongs to loose failure type when confining pressure is higher and water content is lower. To frozen soil, these CT scanning results and recognition not only benefit the study pf stability and dynamic deformation, but also provide important data for further dynamic characteristics studies and establishing dynamic deformation models. © 2009 ASCE.

关键词： Microstructure

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Configuration information acquisition and matching in self-reconfiguring process of modular self-reconfigurable robots

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高技术通讯（英文版） 2008年第4期14卷 411-417页

作者： Ren Zongwei Zang Xizhe Zhu Yanhe Zhang Yuhua Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Configuration information acquisition and matching are two important steps in the self-reconfiguring process of self-reconfigurable robots. The process of configuration information acquisition was introduced, and a self-reconfiguring configuration matching strategy based on graded optimization mechanism was proposed. The first-grade optimization was to search common connection between matching scheme and goal configuration. The second-grade optimization, whose object function was constructed in terms of configuration connectivity, was to search common topology according to the results of the first-grade optimization. The entire process of configuration information acquisition and matching was verified by an experiment and genetic algorithm (GA). The result shows the accuracy of the configuration information acquisition and the effectiveness of the configuration matching method.

关键词： self-reconfigurable robot genetic algorithm (GA) information acquisition configuration matching graded optimization

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