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

邻菲啰啉光度法测定高岭土中可溶铁和非可溶铁

高岭土中铁的赋存状态和含量影响其白度和增白效果,因此快速准确地测定高岭土中不同种类的铁含量具有实际应用意义。高岭土中自由铁和结构铁定量分析困难,为此本文将高岭土中的铁分为可溶铁和非可溶铁两类。高岭土经盐酸酸溶处理后溶液中的铁含量为可溶铁含量,经氢氧化钠碱熔处理后溶液中的铁含量为总铁含量,非可溶铁含量由总铁含量减去可溶铁含量计算得出。采用邻菲啰啉光度法测定溶液中的铁含量,该方法的相对标准偏差小于5%,加样回收率范围在95%～105%,最低检测含量为1.06μg/g。高岭土中的其他元素对铁的测定均没有干扰。所测得的可溶铁为大部分自由铁和少数结构铁。通过对高岭土中的可溶铁进行定量分析,可得知漂白工艺中可除去的最大铁含量

邻菲啉光度法测定高岭土中可溶铁和非可溶铁

高岭土中铁的赋存状态和含量影响其白度和增白效果，因此快速准确地测定高岭土中不同种类的铁含量具有实际应用意义。高岭土中自由铁和结构铁定量分析困难，为此本文将高岭土中的铁分为可溶铁和非可溶铁两类。高岭土经盐酸酸溶处理后溶液中的铁含量为可溶铁含量，经氢氧化钠碱熔处理后溶液中的铁含量为总铁含量，非可溶铁含量由总铁含量减去可溶铁含量计算得出。采用邻菲啉光度法测定溶液中的铁含量，该方法的相对标准偏差小于 ５％，加样回收率范围在 ９５％ ～１０５％，最低检测含量为 １．０６μｇ／ｇ。高岭土中的其他元素对铁的测定均没有干扰。所测得的可溶铁为大部分自由铁和少数结构铁。通过对高岭土中的可溶铁进行定量分析，可得知漂白工艺中可除去的最大铁含量

A Study on Catalytic Synthesis of DME from Methanol by Kaolin

[中文文摘]比较研究了高岭土的结构特征,采用常压微型反应装置评价了高岭土作为催化甲醇制二甲醚催化剂的活性,并对高岭土进行了酸处理改性研究.结果表明,高岭土中高结晶度的高岭石有利于催化甲醇脱水制二甲醚,酸处理改性能提高高岭土的催化活性.[英文文摘]The structure and acid treatment of the kaolin were studied and compared and their catalytic activity for DME synthesis from methanol was evaluated by using a normal pressure micro-reactor.Here we compare the catalytic activity of two different kinds of kaolin. DME conversions under the condition of (0.1 MPa) and 320℃ over them are 43% and 69.3% separately.The two kinds of kaolin are characterized by the method of TEM,SEM and XRD.The results showed that kaolinite with high crystalization in kaolin may be favorable to the reaction of dehydration of methanol into DME. To im2 prove the catalytic activityof kaolin ,we treat oneof the kaolinwith sulfuric acid.DMEconversionover kaolin treatedwith acid can be improved from 43% to 82.3%.But DME conversion falls when kaolin is treated with more acid.Because when kaolin is treated by too much acid ,the numberof strong acid sites growswhile the numberof weak acid sitesfalls; and strong acid sites are requiredfor the dehydration of methanol to olefins while the weak acid sites are active for ether formation. The results showthat acid treatment of kaolin can improve the catalytic activityof kaolin while too much acid is not favorable to the reaction of dehydration of methanol into DME by resulting in more subsidiary reactions.福建省科技攻关计划重大项目(2002H013)资助

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编辑和翻译: 姜海日、巫靓、中山大将、福谷彬、趙偵宇、郭玫珂、楊維