Shenyang Institute of Automation,Chinese Academy Of Sciences
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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System
No full textInspired by box jellyfish that has distributed and complementary perceptive system, we seek to equip manipulator with a camera and an Inertial Measurement Unit (IMU) to perceive ego motion and surrounding unstructured environment. Before robot perception, a reliable and high-precision calibration between camera, IMU and manipulator is a critical prerequisite. This paper introduces a novel calibration system. First, we seek to correlate the spatial relationship between the sensing units and manipulator in a joint framework. Second, the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw–pitch–roll rotations and x–y–z translations in a repeatable and consistent manner. The calibration has been evaluated on our collected visual inertial-manipulator dataset. The systematic comparisons and analysis indicate the consistency, precision and effectiveness of our proposed calibration method.</p
Deep Object Detector With Attentional Spatiotemporal LSTM for Space Human-Robot Interaction
No full textGlobal temporal information and local semantic information are essential cues for high-performance online object detection in videos. However, despite their promising detection accuracy in most cases, most state-of-the-art approaches have following two limitations: invalid background/scale suppression and inadequate temporal information mining between frames. Many jobs currently focus on temporal information learning based on a single frame. In this article, we propose an attentional global-local information learning network; this is one of the first attempts to fully use both types of information between frames. Attention maps are creatively utilized to transfer temporal contexts between frames. This also effectively alleviates the adverse effects of scale changes. Furthermore, empowered by a detailed framework, a proposed detector effectively uses multilevel feature extraction. Given these contributions, the proposed detector achieves state-of-the-art performance on challenging benchmarks. Finally, practical experiments are conducted on a space human-robot interaction platform
Surface topography by water jet-guided laser texturing on wettability of monocrystalline silicon
No full textAt present, the use of microstructure to change the optical properties and wetting properties of the material itself has become the main means to improve the utilization rate of materials in the manufacturing industry. Due to the hydrophilicity of the material surface can achieve underwater self-cleaning, directional transportation function, it becomes an indispensable part of surface modification. Water jet-guide laser processing can significantly reduce the formation of the heat-affected zone and crack, and can clearly ablate the material, with higher precision and resolution. In this experiment, the effects of scan spacing, laser output power and channel aspect ratio are examined and processing conditions for achieving near superhydrophilicity are provided. Owing to the anaerobic processing environment, the surface chemical composition of the material does not change, and the hydrophilicity is increased by 8% to 43% compared with that before. Increasing the aspect ratio can increase the wettability, when the aspect ratio is more than 1.63, the wettability begins to rebound, and the wettability becomes worse. Using small laser power and multiple scanning processing scheme can make the surface covered with tiny small pillars of micro-nano particles layer beneficial to increase the droplet adhesion, and the minimum contact angle can reach 37.2 degrees
一种模块化手术机器人驱动装置
No full text本发明属于医疗器械领域，具体地说是一种模块化手术机器人驱动装置，C型臂的一端安装有驱动电机，驱动电机的输出轴与基座相连，驱动基座旋转，C型臂的另一端设有多通道穿刺器；基座上设有多个装配工位，每个装配工位处均安装有一驱动模块，每个驱动模块的近端均安装在一个装配工位上，每个驱动模块的远端均可拆卸地安装有手术器械，各手术器械的驱动杆为柔性驱动杆，每个手术器械的柔性驱动杆均由多通道穿刺器穿过。本发明采用模块化设计，可伸缩导轨模块使驱动装置整体空间更加开放，手术器械与驱动模块支持快速拆装，手术器械驱动杆为柔性，可适应多种穿刺器结构及驱动装置的布局，空间布置集成度高，整体轻量化，可靠性高
一种面向深孔可多自由度调节的打磨装置
No full text本发明涉及孔打磨装置，具体地说是一种面向深孔可多自由度调节的打磨装置，包括整体移动车体部分、姿态调节部分及打磨部分，移动定位基座的下端固定于整体移动车体部分上，调姿基础台板固定于移动定位基座的上端，移动平台与调姿基础台板滑动连接，移动平台上固接有摆动轴承定位套，摆动定位轴的下端与摆动轴承定位套转动连接，摆动定位轴的上端安装有俯仰定位座，俯仰定位座上铰接有俯仰连杆，俯仰连杆的一端与调姿连杆的一端相连，俯仰连杆的另一端连接有打磨部分，调姿连杆的另一端为调节打磨部分的执行端。本发明动作多自由度可调，调节范围广、运动稳定、特点突出、工作可靠
基于非局部低秩张量分解的三维医学图像超分辨率方法
No full text本发明涉及基于非局部低秩张量分解的三维医学图像超分辨率方法。针对临床环境中受硬件条件、成像设备、传输效率等限制而无法直接得到高分辨率图像的问题，提出了一种单张三维医学图像的超分辨率方法。该方法采用非局部张量Tucker分解模型来充分利用图像的非局部相似先验，从而实现低分辨率图像的恢复。与现有基于凸优化的张量Tucker分解方法不同，该模型采用张量折凹范数逼近非局部低秩张量，避免了传统的凸优化方法带来的估计误差。同时，引入加权三维TV保持图像各个维度的局部平滑性。该方法在大脑和前列腺的磁共振成像(MRI)图像，腹部和牙科的计算机断层扫描(CT)图像等多种不同的三维医学图像上均得到了良好的超分辨率效果，验证了该方法的有效性和先进性
自动化无人机连续发射系统及控制方法
No full text本发明涉及一种自动化无人机连续发射系统及控制方法，包括弹射器、调整平台、升降调节装置和控制系统，调整平台通过三个升降调节装置支撑，且所述升降调节装置下端安装于船体上，弹射器设于调整平台上，无人机设于弹射器上，各个升降调节装置的伸缩量通过所述控制系统控制，且所述控制系统根据船体运动计算升降调节装置的伸缩量。本发明利用调整平台补偿海浪引起的船体运动，从而保证无人机能够不受海浪影响顺利起飞，尤其适用于易受海浪影响的小型舰船，并且本发明的控制系统根据LQR最优控制理论对各个升降调节装置的升降伸缩量进行调节，不仅能够准确及时地调节所述调整平台位姿，同时整个过程自动完成，无需其他干预
一种可调四点夹持的绝缘子夹持机构
No full text本发明涉及绝缘子夹持设备，特别涉及一种可调四点夹持的绝缘子夹持机构。包括双向驱动直线模组、左夹爪及右夹爪，其中左夹爪和右夹爪设置于双向驱动直线模组上，双向驱动直线模组驱动左夹爪和右夹爪反向运动；左夹爪和右夹爪均包括支架及设置于支架上的两指夹持结构，左夹爪和右夹爪通过两指夹持结构四点夹持绝缘子。本发明设置有左右两夹爪，两个夹爪构成四点夹持，确保夹持机构的夹持效果，绝缘子不易脱落和滑动
Identification of Influential Nodes in Industrial Networks Based on Structure Analysis
No full textIndustrial network systems are facing various new challenges, such as increasing functional failure factors, the accelerating penetration of information threats, and complex and diverse attack methods. Industrial networks are often vulnerable to natural or intentional disasters; therefore, it is highly invaluable to research to identify the influential nodes. Most of the state-of-the-art evaluates the importance of the nodes according to one or more network metrics. Moreover, there are no metrics reflecting all the properties of the network. In this paper, a novel method (Structure-based Identification Method, SIM) to identify the influential nodes in industrial networks is proposed based on the network structure, which goes beyond the use of network metrics. The SIM method extracts the weakly connected components, which are more likely to survive after the important nodes are attacked in the network. Evaluation results show that the SIM method obtains better results than the state-of-the-art methods to identify influential nodes in real-world industrial networks and has a good prospect to be applied in industrial application
Atomic Force Microscopy for Tumor Research at Cell and Molecule Levels
No full textTumors have posed a serious threat to human life and health. Researchers can determine whether or not cells are cancerous, whether the cancer cells are invasive or metastatic, and what the effects of drugs are on cancer cells by the physical properties such as hardness, adhesion, and Young's modulus. The atomic force microscope (AFM) has emerged as a key important tool for biomechanics research on tumor cells due to its ability to image and collect force spectroscopy information of biological samples with nano-level spatial resolution and under near-physiological conditions. This article reviews the existing results of the study of cancer cells with AFM. The main foci are the operating principle of AFM and research advances in mechanical property measurement, ultra-microtopography, and molecular recognition of tumor cells, which allows us to outline what we do know it in a systematic way and to summarize and to discuss future directions