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Plasticizer effect plays an important role in biological field, such as in the fruit ripe process. Humidity is a key factor to affect the plasticize. Previously, the stiffness of plant cells have been measured to study the plasticizer of the plant. However, these studies are based on group cell analysis and is not in vivo. In this paper, A nanoneedle was fabricated from AFM (atomic force microscopy)...
A portable & wearable falling monitoring system is proposed in this paper, which is based on microcontroller and triaxial accelerometer, and used for real-time monitoring of human body motion state. Its purpose is to make real-time judgments during the falling, and enable airbags or other protective devices before the body impacts with the ground, preventing or reducing the damage of falling to...
The motion simulation platform of humanoid robot has been widely used in the robotics research. This paper introduces a general methodology for developing a motion simulation platform for a humanoid robot. Since the MATLAB is one of the most common and convenient language, we established kinematics simulation, interface design and kinematics analysis by using the MATLAB. As a result, a 3D humanoid...
A gyroscope based on Coriolis effect and fabricated by Carbon Nanotube (CNT) will be presented. A CNT is vibration at x direction, when there a rotation around z direction, acceleration happens to the y direction. The natural frequency of MWCNT is depending on the inner diameter, outer diameter and length. The CNT was driven by the electrostatic force to its nature frequency. A CNT with a length of...
Inspired by the indoor localization technology of mobile robots, a novel Electronic Travel Aids (ETA) is developed based on multi-sensor fusion using an extended Kalman filter (EKF). A wearable sensor system is designed to estimate the real-time posture of user's lower limb. This system can be used both for monitoring the user's walking status and for realizing the relative localization. A belt of...
In this paper, by defining different error functions, two continuous-time models of Zhang neural net (ZNN) termed the ZNN-I and ZNN-II models are developed and investigated to solve for time-varying generalized inverse (i.e., Zhang generalized inverse, ZGI). In addition, comparing the ZNN models with the dynamic system proposed by Getz and Marsden (G-M), we show that such a G-M dynamic system can...
A vision-based inspection system was proposed to inspect the quality of in-vitro diagnostic kits in the assembly line. System workflow and hardware structure was determined after defects analysis. The procedure to inspect major defects of strip and kit was determined by the application of image processing and analysis techniques such as image enhancement, edge detection, threshold segmentation, and...
The trajectory planning in the case of grasping a space target is researched in this paper for a reconfigurable mobile robot, Joint Locomotion - 2 (JL-2), in the Mobile Manipulating (MM) mode. The trajectory is composed of three segments, including the robot locomotion trajectory in plane generated by a cubic polynomial function, the trajectories of the end-effector adjusting its posture and approaching...
Targeting at the special needs of multi-DOF manipulator in some complex tasks, and the joint plays a very important role in the safe and steady operation of manipulators as one of critical components, a high-precision servo system integrated joint design is presented based on DSP. The system with all the functions of agencies, data sampling, data processing, sensing, control and communication could...
In allusion to infrared non-uniformity noise of robot vision imaging, an infrared non-uniformity correction algorithm based on zereo virtual perimeter diaphragm strips is proposed, which does not need any prior information. This algorithm initially executes one-point correction to the perimeter detectors using zero virtual perimeter diaphragm strips. Then based on the scene information and shift between...
An algorithm that simulates the trajectories for a 6 -DOF articulate manipulator was proposed. A Fanuc-type 6-DOF industrial manipulator was first modeled in MATLAB, then using basic matrix computations, a simplified algorithm was developed which is capable of efficiently computing the trajectory of the known manipulator and a Guide User Interface (GUI) was developed to simulate the trajectory in...
The posture of the laser head is requested strictly in the cutting along the intersecting line of laser processing robot, and the position model of intersecting line is complex. In order to meet these demands, a continuous trajectory planning method which is used to controlling the position and posture of laser head is proposed. For the normal direction of the surface keeping coaxial to the laser...
Aimed that the image applied in CSF(Cavity Spatial Filter)auto-alignment control of SG-II-UP(Shenguang II Laser Upgraded Device) is blurred with uneven light radiation and has many scattered reference points, a novel algorithm of reference center extraction is proposed in this paper, which is based on position estimation and gradient extremum search. Firstly, all the reference points are determined...
A simple binocular visual equipment is designed in this paper, which is mainly composed by two CCD cameras and four stepping motors. Firstly, the two cameras' initial location is determined based on rough location by moving to the limiting position, and precise location by driving the image center aligning with fitted ellipse center. Then, the transformation matrix between coordinate systems of motion...
In order to present an aerial refueling drogue detector, we use a sliding-window object detection framework, while using hybrid features of the sub-image in the detecting windows. Image processing technique and wavelet filter technique are used in the process of feature extraction, to form hybrid feature set. Feature selection depending on AdaBoost is used in the process of feature subset selection...
Camera calibration is a significant process not only for photography but also for computer vision. The accuracy and stability of the camera calibration methods directly affect the whole vision system. In the past few years, a series of methods for camera calibration have been researched. In this paper, these methods are reviewed, analyzed and compared for the practical application and future research.
For the past few years, the performance of object recognition and retrieval has been substantially boosted, which is largely attributed to the advent of many effective image descriptors. The most representative examples are the Fisher Vector (FV) and the Vector of Locally Aggregated Descriptors (VLAD). In this paper we focus on the latter. The original VLAD descriptor directly accumulates the sums...
Atomic force microscopes (AFMs) are usually utilized for nano-scale imaging. Usually, the slide loading the samples and the stage of the AFM cannot be placed completely parallel with the motion plane of the piezoelectric actuator due to the manual operation and machining errors, which leads to the variation of imaging brightness (or height) along the slope and makes the relative topography unrealistic...
There has been a focus on the management of the complex engineering project. Firstly the organizational design elements that affect the decision making performance of a complex engineering project in the uncertain environment are analyzed. Then an agent-based model is proposed, in which the environmental uncertainty is represented with environmental complexity and turbulence. During modeling, a task...
Rapid detection of heavy metals in the soil and getting their distribution is important for heavy metal pollution prevention and control. This paper proposes a rapid detection method based on energy dispersive X-ray fluorescence spectroscopy, which uses modular components to implement the detection system. This method has been used to measure heavy metal levels of Cr, Zr, Zn, As, Pb in the standard...
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