Research on Automatic Micro Operation Based on Global and Local Vision

在基于视觉的微操作与微装配中，采用显微视觉作为非接触式的传感器，以实现自动化闭环控制，提高操作和装配精度。在显微视觉控制中，要提高操作精度往往采用小视场，即具有高的放大倍数。然而小视场所包含的操作对象少，不能实现连续、快速的定位，自动化程度低，时间成本高；大视场所包含的对象多，但是需要牺牲显微视觉系统的放大倍数，操作精度低。因此，显微镜的视场大小所造成的操作精度和批量操作速度间的矛盾，使得传统的操作很难同时保证精度和速度。 本文提出了一种基于全局/局部视觉控制的自动化微操作方法，该方法能够解决微操作中操作精度和批量操作速度的矛盾。文中首先利用特征运动误差对视觉系统和世界空间进行标定，然后在操...In the micro-operation and micro-assembly that is based on vision, the micro vision was used as a non-contact sensor for automatic closed loop control to improve the speed of operation and assembly. In the micro vision control, the high operation resolution often means the small vision, that is, the amplification factor of the vision system is big. But the small vision contains small number of ope...学位：工学硕士院系专业：物理与机电工程学院机电工程系_机械制造及其自动化学号：1992009115249

一种基于视觉的全局扫描与局部装配的控制方法

在基于视觉的微装配中,要提高精度则需要减小视场,然而小视场所包含的装配对象少,不能实现连续、快速的定位,因此很难同时保证快速和高精度。利用双视觉,提出一种全局扫描和局部装配的控制方法,也就是在大视场中获取批量装配对象坐标及关系,然后在小视场中进行单个对象的局部装配。该方法的批量对象扫描提高了装配速度,局部装配保证了装配精度

线性自抗扰控制参数整定鲁棒性的根轨迹分析

从极点配置和根轨迹的角度研究了二阶线性定常对象的线性自抗扰控制.提出一个新传递函数框图.基于该框图,将线性自抗扰控制的参数整定解释为闭环极点配置问题,控制器带宽、观测器带宽等参数的整定被看作开环极、零点位置的选择.建议用根轨迹法研究线性自抗扰控制的鲁棒性.通过分析根轨迹定性说明了观测器带宽可以等于控制器带宽,以及线性自抗扰控制对被控对象参数变化的鲁棒性.国家自然科学基金项目(61733017);;福建省自然科学基金项目(2016J01317);;国家留学基金项目(201606315084)资助~

Immunorecognition of Estrogen Receptor in the Optic Ganglion of Scylla serrata

【中文摘要】 利用免疫细胞化学SABC法对锯缘青蟹(Scylla serrata)视神经节雌激素受体(ER)进行定位研究.结果表明:视神经节的视外髓、视内髓和视端髓存在ER免疫阳性细胞.视神经节存在的ER免疫阳性细胞可以为雌激素提供结合位点.本研究为雌激素参与视神经节神经内分泌调节作用提供了形态学依据. 【英文摘要】 Antisera generated in vertebrate and immunocytochemical SABC method was applied to observe the immunoreactive neurons and neuropils of estrogen receptor(ER) in optic ganglia of Scylla serrata.The results showed that:ER-immunoreactive substance was located in medulla externa,medulla interna and medulla terminalis in optic ganglion.ER-immunoreactive neurons in optic ganglia might provide the binding sites for estrogen and accept the feedback regulation of estrogen.This present work provides the morphological ...国家自然科学基金(30300269)资

XH-04B乙苯脱氢催化剂的工业应用

介绍了XH-04B乙苯脱氢催化剂的特性及工业应用情况。应用结果表明,该催化剂活性和选择性均较高,能够适应较低n(汽)/n(烃),机械强度较高,床层阻力较小且使用寿命较长,可代替进口催化剂在国内大型引进苯乙烯装置上使用

Control Method of Micro-Manipulation System for Fast Precision Probe Positioning

为了快速、精确定位操作细胞的探针,利用视觉空间的特征运动误差对视觉空间与机械手空间的映射矩阵进行校正,研究了局部视觉空间重复校正方法以及误差趋近极小值的最小二乘全局校正方法.为了减小随机噪声对精度的影响,用校正后的映射矩阵替换卡尔曼滤波器状态方程中的输入系数矩阵,利用卡尔曼滤波器估计方程控制特征运动.通过实验求取映射矩阵校正后的特征运动误差,由于取点有限以及影响精度的参数较多,经过重复校正使误差趋近极小值.应用最小二乘全局校正方法,可使特征运动误差控制在5个像素范围内.采用全局校正后的映射矩阵替换卡尔曼滤波器状态方程中的输入系数矩阵,并用卡尔曼滤波器控制特征运动,可使特征运动误差控制在1个像素范围内.系统校正后,当探针跟踪孔直径为100μM、相邻孔间距为400μM的孔阵列时,跟踪10个孔的时间为14 S.In order to position the probe that operates cells fast and precisely,the movement error of characteristic point in vision space was used to revise mapping matrix of vision space and manipulator space.Repeat revision method based on local vision space and the least squares method based on global revision which can make errors approach the minimum were researched.In order to reduce the influence of random noise on precision,the input coefficient matrix of state equation of Kalman filter was replaced by the revised matrix,and the movements of characteristic points were controlled by the estimate equation of Kalman filter.Through the experiments,the movement errors of characteristic points after revising were obtained.In addition,to make errors approach the minimum,repeat revision was needed due to limited points and too many parameters which influence precision.The movement errors of characteristic points were controlled within 5 pixel if the least squares method based on global revision was used.When the input coefficient of state equation of Kalman filter was replaced by the revised matrix and the movements of characteristic points were controlled by the Kalman filter,the movement error can be controlled within one pixel.After revising,the time spent on tracking 10 holes of array is 14 s when the diameter is 100 μm and distance between holes is 400 μm.国家自然科学基金资助项目(50875222);福建省自然科学基金资助项目(2009J01265

Vision based automatic assembly of rotor leads for micro-motors

将转子线圈的线头焊接到焊盘上是微马达制造的重要工序,由于操作对象的特殊性,线头焊接全部采用人工在显微镜下操作完成,人工焊接成本高、效率低、产品一致性差。针对这些问题,提出了一种基于视觉的微马达转子导线自动焊接方法,利用视觉自适应调整微马达的位姿。另外,采用气流定位法对转子导线进行定位,并分析了因位置和姿态调整产生耦合而造成的误差,提出了解决方案。实验结果表明,利用气流可以对导线进行精确定位,基于视觉控制的位置与姿态调整精度分别可以达到10μM和1°。In the manufacture of micro-motor,it is an important working procedure to weld the head of coil onto the bonding pad.Due to the particularity of the objects,all the welding working,in present,are completed by human labor under microscope,leading to high cost,low efficiency and poor consistence.Aiming at these problems,a technique about vision based automatic welding was presented,that is,adjusting the position and posture of motor using vision automatically.In addition,the head of coil was positioned by the use of airflow and the error made by the interference between adjustment of position and posture was analyzed and the solution was given finally.The results indicate that the head of coil can be positioned well by airflow and the precision of adjustment of position and posture using vision control reach 10 μm and 1° respectively

Integrating Automatic Bio-manipulation Algorithm Theory with Software

在生命科学研究中,生物操作主要存在操作者训练时间长、操作成功率和效率低、操作缺乏一致性和重复性等问题,自动化生物操作可以解决这些问题。将多个商用设备集成在一起,利用视觉系统与机械手系统的映射矩阵建立误差校正方程,采用局部递归和全局优化标定的方法减小目标点的定位误差。在此基础上,利用卡尔曼滤波器建立系统控制方程,控制操作探针精确定位。最后,用程序实现了算法理论,并将该算法与其他设备驱动模块集成在一起,建立了柔性的、用户界面友好的软件系统。实验结果表明:建立的算法理论和软件系统,可以自动控制操作探针精确运动,运动精度在1个像素范围内。For the study of life sciences,bio-manipulation faces such challenges as long time for operator training,low success rate,low efficiency,operation inconsistency and repetition.We believe that automatic bio-manipulation can solve these challenges.We integrate several commercial devices and use the matrix that maps the visual system with the robotic system to derive the error correction equation.We also use the local recurrence and global optimization calibration method to reduce the target point′s positioning error.On this basis,using the Kalman filter,we establish the systems′ control equations to control the precise positioning of the bio-manipulation probe.Finally,we implement the algorithm theory and integrate the algorithm with the drive modules of other devices,thus establishing a flexible and user-friendly software system.The experimental results show that the algorithm theory and software systems thus integrated can automatically control the probe′s accurate motion,the motion accuracy being within one pixel.国家自然科学基金项目(50875222);福建省自然科学基金项目(2009J01265)资

Effect of silencing LC3 on apoptosis of mouse hepatocellular carcinoma Heap1-6 cells

目的建立小鼠LC3基因沉默的Heap1-6稳定表达细胞系，探讨其对衣霉素诱导的肝癌细胞凋亡的影响。方法设计并合成一段针对小鼠LC3基因的shRNA及不针对任何基因的shRNA作为阴性对照，将它们退火后连接构建重组载体，转化扩增及酶切鉴定之后将重组质粒与病毒包装、包膜质粒共同转染293T，收集病毒上清转染Heap1-6细胞，嘌呤霉素筛选10 d，获得稳定的细胞株。以导入LC3基因shRNA的Heap1-6为实验组（Heap1-6 shLC3），以导入shcoo2的Heap1-6为对照组（Heap1-6 shctrl）。衣霉素处理实验组和对照组的细胞，Western Blot检测LC3Ⅱ、c-Caspase3、Caspase9蛋白的表达，流式细胞术检测细胞凋亡。Western Blot 条带灰度值之间两组比较采用独立样本的t检验。结果成功构建了pLKO.1-shLC3重组慢病毒载体，与野生型的Heap1-6相比，LC3基因沉默之后，LC3Ⅱ蛋白表达水平降低了62.9﹪（P 〈 0.01）；野生型的Heap1-6和LC3基因沉默之后的Heap1-6 shLC3都经Tm处理12 h之后，后者LC3Ⅱ蛋白表达水平降低了58.6﹪（P 〈 0.01）。与对照组Heap1-6 shctrl相比，衣霉素作用12 h后实验组Heap1-6 shLC3 c-Caspase3增加了37.7﹪（P = 0.007），Caspase9增加了37.1﹪（P = 0.023））；衣霉素作用24 h后shLC3组c-Caspase3增加了12.6﹪（P = 0.04）， Caspase9增加了14.3﹪（P = 0.043）。药物干预12 h和24 h后，Heap1-6 shLC3组比对照组Heap1-6 shcoo2凋亡比例分别增加22.8﹪和18.6﹪。结论成功建立小鼠LC3基因沉默的Heap1-6稳定表达细胞系，LC3基因沉默促进衣霉素诱导的小鼠肝癌细胞Heap1-6的凋亡。Objective To establish a stable hepatocellular carcinoma Heap1-6 cell line expressing shRNA against mouse LC3 and to study apoptosis of Heap1-6 cells treated with tunicamycin. Methods shRNA targeting LC3 gene and negative shRNA were designed and synthesized, pLKO.1-TRC-shRNA LC3 vector and negative vector were constructed. After amplification and identification, the recombinant lentivirus vectors were transfected into 293T cells with packaging and envelope plasmids. The supernatant of 293T ceils transfected with recombinant vector was collected, and Heap1-6 cells were transfected with plasmids, and treated with puromycin for ten days to acquire a cell line with stable expression of shRNA against mouse LC3. Western blot analysis was used to detect the expression level of LC3 Ⅱ, cleaved-caspase3, and caspase9 protein respectively. Apoptotic cells were measured by flow cytometry. Results We successfully constructed pLKO. 1-shLC3 lentivirus vector. Before treated by tunicamycin, the level of LC3 Ⅱ in the Heap1-6 shLC3 cells was decreased by 62.9 % compared with that in the WT Heap1-6 cells （P = 0.0001 ）. After being treated by tunicamycin for 12 h, the level of LC3 Ⅱ in Heap1-6 shLC3 cells was decreased by 58.6 % compared with that in the WT Heapl-6 cells P = 0.0003 ）. Compared with the control group （Heap1-6 cells transfected with negative shRNA vector）, the level of cleaved-caspase3 and caspase9 in the shLC3 group was increased by 37.7 % and 37.1% respectively under tunicamycin for 12 h （P = 0.007, 0.023 ）. And the level of the same two proteins in the shRNA group was elevated by 12.6 % and 14.3 % compared with those of Heap1-6 shctrl cells respectively （P = 0.040, 0.043）. The ratio of apoptotic cells of the experiment group was increased by 22.8 % and 18.6 % compared with that of the control treated with ttmicamycin for 12 h and 24 h, respectively. Conclusion LC3 knockdown could promote apoptosis of mouse hepatocellular carcinoma Heap 1-6 cell line induced by tunicamycin.国家自然科学基金面上项目（81270431

Formation and solving for the micro-waves of fly-cut surface introduced by spindle error

为分析超精密飞切机床加工表面微波纹的形成机理,研究了主轴回转误差信息提取与表面形貌仿真技术,获取微波纹误差来源并研究解决方案。首先,在超精密飞切机床主轴上搭载五通道在线电容位移检测系统,并对采集到的信号进行误差分析提取。然后,建立飞切加工表面微观形貌三维仿真模型,仿真分析主轴误差引入的加工表面微波纹,并与表面检测结果比对确定误差来源。最后,通过调整主轴电机控制系统抑制该误差。三维仿真和实测结果相吻合,证实超精密飞切机床主轴转速波动导致的回转误差造成了工件表面1 Hz左右的规律性条纹,对主轴转速控制系统进行数字化改造后,基本消除了该因素导致的表面微波纹,表面粗糙度从5 nm以上抑制到2 nm左右,PV值优于10 nm。超精密飞切机床主轴转速波动会对飞切加工表面微观形貌以及表面粗糙度产生显著影响,需至少控制在0.5 r/min以内。In order to find out the formation mechanism of micro-waves on the fly-cut surface,the spindle motion error was sampled and a 3D topography simulation model was compiled. Firstly,a nano-class testing and evaluation system was established on the fly cutting machine,the displacement data was sampled and the spindle motion error was analyzed.Then a 3D surface profile topography simulation model was established to analyze the micro-waves caused by the spindle motion error. The simulated surface was compared with the measured surface to find out the error sources. Finally,the characteristics of spindle were improved by adjusting the control system of the spindle motor. The simulated 3D surface profile topography was similar to that of the measured profile,which verified that the macro-waves was caused by the undulate of the spindle speed. When the spindle characteristics was improved,the macro-waves caused by the spindle motion error almost disappeared,and the surface roughness reduced from more than 5 nm to 2 nm. It is thus concluded that the undulate of ultra-precision fly cutting machine spindle speed causes macro-waves on the work-piece surface,and the undulate spindle speed must less than 0. 5 r / min.基金项目:高档数控机床与基础制造装备《强激光光学元件超精密制造关键装备研制》(2013ZX04006011-102-001