Research on Visual Auto-control Biological Microoperation System

在生物科学研究和实验中，生物微操作机器人使微操作简单化、自动化，提高操作效率、成功率。机器人视觉伺服控制是实时图像处理、机器人运动学、控制理论、计算机技术以及实时计算技术的融合，是计算机视觉研究前沿的一个重要分支，其中图像处理和标定技术是它的关键技术和核心内容。 目前，机器人视觉伺服系统根据视觉反馈信号表示的是3D空间坐标值或是图像特征值而分为基于位置的和基于图像的视觉闭环反馈两种方式。基于位置的控制方式根据己知的目标几何模型和摄像机模型来估计目标相对于摄像机的位姿，其主要缺陷在于控制精度依赖于摄像机的标定精度，而标定精度又受环境的制约。基于图像的控制方式误差信号直接用图像特征来定义，直接利...In bioscience research and experiments, the microoperation robot make the microoperation simplify, automatic, improve operation efficiency and success rate. Robot visual servoing is the fusion of results from many elemental areas including real-time image processing、robot kinematics、controlling theory、computer technology and real-time computation, and is a main subject in the research field of rob...学位：工学硕士院系专业：物理与机电工程学院机电工程系_机械电子工程学号：2005130171

视觉伺服控制微机械手的细胞注射研究

细胞注射前,利用伺服控制方程计算的误差矩阵对系统进行标定,减小显微视觉系统和机械手系统间的坐标变换误差。系统误差标定后,利用显微镜聚焦—失焦技术获得深度信息,将细胞、负压管和注射针定位到同一平面上,定位误差达到0.3806#m,再结合光学流跟踪法,轨迹误差由(7,13)像素减小(0,1)像素。误差矩阵的应用非常有利于实时控制。利用纳米驱动平台设计微注射泵和负压泵,通过脉冲控制药液注射量的大小,注射泵理论注射量可以达到3.2皮升,负压泵可以安全地吸附住细胞。实验结果表明,利用上述各种技术,可以方便地完成细胞显微注射

Space Precision Orientation Method for Cell Micro-Injection System

利用改进的激光三角测量法获得图像采集时丢失的高度信息,其相对误差小于0.4%,将该信息集成到伺服控制方程中就可以利用视觉信息来控制机械手在空间做三维运动.在图像空间控制机械手运动时,利用光学流方法获得每个采样周期后注射针在图像空间的位置,就可以消除系统存在的误差,使注射针沿预定的轨迹运动,完成细胞的注射.实验结果表明,利用该方法可以将轨迹误差从(11,10)像素,减小为(0,2)像素,从而方便地控制机械手在三维空间做精确定位和运动.The laser trigonometry measurement method is improved to obtain the data of height of probe with a relative error less than 0.4%,which are integrated in the servoing equation to control micro-manipulator movement in three dimensional space.When micro-manipulator moves in image space,the modified sum of squared difference method is employed to track probe,thus the error of micro-manipulator movement is eliminated and probe moves along the expected track to realize the cell micro-injection.The experimental results show that this method enables to minish error from(11,10) pixels to(0,2) pixels to accurately control the micro-manipulator movement in three dimensional space.国家自然科学基金资助项目(50675184

Extraction of Depth Information and Image Processing in Manipulator Cell Injection

在细胞注射时,显微镜上CCD获取的只是注射针的二维信息,但光轴方向的深度信息丢失,这会导致细胞注射的失败,必须用其他方法获得。利用激光三角测量法对注射针以及细胞载玻片的深度信息进行测量,通过纳米平台的移动来标定激光入射角参数,对获取的数据进行图形化处理,确定线激光条纹图像间的偏移距离,从而获得标准物体高度与激光条纹图像偏移量的像素比值,该比值可以用来计算实际物体的高度。另外,利用三自由度机械手,对测量的探针离细胞载玻片的距离进行验证,获得激光三角测量法的误差值。实验结果表明,在细胞注射中,利用激光三角测量法获得注射针的深度信息是可行的。Only two dimensions information of injection needle could be captured by CCD in microscope image,and the lack of the depth information through the optical axis of microscope system would result in the failure of cell injection.A new way called laser triangulation to exract depth information of the injection needle and the slide glass was presented.The measuring principle was calibrating the projection angle of laser,θ was callibrated by the remotion of nano platform,then ascertain the displacement of laser stripe,S by image processing,The height of actual objects will be decided by S· tgθ.In addition,the error of laser triangulation is demonstrated to be about from 5 to 10 μm by calibration using a 3-DOF manipulators.The result indicates that it is feasible to measure the depth information of injection needle by laser triangulation with the required precision in cell injection

新疆阿尔泰恰夏铁铜矿床地质特征及成因探讨[C]

本文探讨了新疆阿尔泰恰夏铁铜矿床成矿流体和成矿物质来源，结合矿床地质特征，认为铁矿的成因类型为火山沉积型，铜矿的成因类型主要为矽卡岩型

新疆阿尔泰南缘大东沟铅锌矿区火山岩LA-ICP-MS锆石U-Pb定年及地质意义/LA-ICP-MS U-Pb dating of volcanic rocks from Dadonggou ore district on southern margin of Altay in Xinjiang and its geological implications[J]

大东沟铅锌矿位于新疆阿尔泰南缘的克兰盆地,赋存于康布铁堡组上亚组火山-沉积岩系,矿体直接围岩为变质钙质砂岩及不纯的大理岩,矿体呈层状、似层状、透镜状分布,与地层产状一致.利用LA-ICP-MS锆石U-Pb测年法,获得矿区2件康布铁堡组上亚组变质流纹岩加权平均年龄分别为(388.9±3.2) Ma(MSWD=3.3)和(400.7±1.6) Ma(MSWD=1.3).结合前人的年龄数据,将克兰盆地康布铁堡组的时代厘定为晚志留世末期至早泥盆世(413～389Ma).大东沟铅锌矿为火山岩容矿的喷流沉积型矿床(VMS),2件变质流纹岩年龄限定大东沟铅锌矿的成矿作用发生在早泥盆世(401～389Ma)