基于误差标定的医疗机器人视觉跟踪方法研究

影像在疾病诊断和手术计划中占有重要地位,随着机器人技术的发展以及微创手术的广泛采用,影像与机器人构成一体,形成计算机集成外科手术系统。影像不仅是疾病诊断的重要工具,它也对手术机器人进行定位、引导,对手术器械进行跟踪和控制。由于视觉和机器人具有各自的坐标系统,它们之间存在误差,当在视觉空间控制机器人运动时,该误差会映射到机器人的轨迹上。在前期手术计划、机器人视觉控制、自动显微操作的研究成果基础上,研究计算机集成外科中的手术机器人轨迹精确控制问题。采用机器人在视觉空间的运动误差对视觉系统和机器人系统间的坐标系误差进行标定,从而精确控制机器人的轨迹。误差标定方法只需要让机器人走三个点就可以完成系统坐标标定。在实验中,利用视觉系统控制机器人运动,模仿微创手术中对机器人末端器械的导引,结果表明,采用递归标定方法可以将机器人的轨迹误差控制在2个像素范围内。国家自然基金资助(50875222);福建省自然基金资助(2009J01265

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

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

分段进水对人工快渗系统脱氮效率的影响

为提高人工快速渗滤系统(CRI)的处理效率,研究了分段进水方式下以河砂/钢渣(1)和河砂/天然沸石(2)为填料的两个快渗池中氮的垂直分布规律,以及对氨氮、硝酸盐氮、亚硝酸盐氮及总氮四种形态的氮和CODMn的去除效果。结果表明,1池、2池采用2∶1的进水比例在表层下600 mm处分段进水对总氮的平均去除率分别为50.90%和45.93%,相对常规进水1、2池总氮去除率分别提高12.45%和12.23%,但对氨氮及CODMn的去除率影响较小;1池、2池采用1∶1的进水比例在表层下1000 mm处分段进水对总氮的平均去除率分别为47.80%和36.21%,相对常规进水1、2池总氮去除率分别提高9.35%和2.51%,但是对氨氮及CODMn的去除率大幅下降。CRI系统中不同形态氮、DO及ORP垂直分布特征显示表层为好氧环境,有利于有机物的分解及硝化作用,底层为缺氧环境,有利于反硝化作用的顺利进行。此外,相对于天然沸石而言钢渣对污染物具有更好的去污效果。本研究表明,选取适当的分段进水位置及进水比例是提高CRI系统对氮的去除率的有效途径

Automatic Dressing and Compensation Method of Diamond Wheel in CNC Grinding Machine

金刚石砂轮在使用过程中会磨损、钝化,影响磨削性能,需要定期修整。本文介绍砂轮修整原理,并给出一种砂轮修整的全自动控制方法和补偿方法。通过长时间连续自动运行,验证了该方法的实际应用效果。After a period of using,the diamond grinding wheel will be worn and blunted,which can seriously affect the grinding performance.So,the diamond grinding wheel requires dressing regularly.The article introduces the principle and methods of dressing and gives an automatic control and compensation method.Through a long continuous running,the result of practical application of this method has been verified.国家“高档数控机床与基础制造装备”科技重大专项(2010ZX04001-162

Extracting condition and the activity admeasurement for pectinesterase in achenes of Ficus awkeotsang Makino

研究了爱玉子果胶酯酶的优化提取方法,并测定了不同条件下爱玉子果胶酯酶的活性及热稳定性。结果表明:爱玉子果胶酯酶抽提液中NaCl的最佳浓度是5%,最佳抽提温度是30℃,最佳抽提时间是24 h,最佳保存时间24 h;酶活测定时作用液中NaCl最适浓度范围为0.6%~1.0%,作用液的最适pH为7.0,温度30~50℃,爱玉子果胶酯酶的热稳定性良好。A method of extraction and assay for the pectinesterase were investigated and proposed as follows: the best concentration of NaCl in extracting mixtrure is 5%,the best extracting temperature is 30℃,the best extracting time is 24 hours,the best conservating time is 24 hours,the best concentration of NaCl in mixture is 0.6% to 1.0%,and maintain the pH on 7.0.Between 30-50℃,the pectinesterase in achenes of Ficus awkeotsang has a good thermal stability.福建省教育厅基金资助项目(K04029);; 福建省科技厅重点资助项目(2007S0015

Study on removal boron from solargrade silicon with hydrometallurgy

湿法提纯作为冶金法制备太阳能级硅的前处理工序,可以去除大部分金属和硼杂质。研究了以氢氟酸-硫酸混合酸为浸出剂,有机溶剂甲醇作为后处理剂,去除硅粉中硼杂质的方法。采用电感耦合等离子体发射光谱仪(ICP)等对产品进行表征。酸浸过程优化工艺条件:硫酸质量分数为55%,氢氟酸质量分数为7%,酸浸温度为70℃、酸浸时间为4 H、液固质量比为8∶1。酸浸后可使硅粉中的硼杂质质量分数由6.893x10-6降至3.867x10-6,去除率为41.9%。在酸浸基础上采用有机溶剂甲醇作为后处理剂,杂质硼质量分数降至3.84x10-6,去除率为44.29%。从硼酸浸后形成的产物入手探索提高硼去除率的方法,实验验证了该方法的可行性,为研究湿法冶金预处理太阳能级硅提供了新的参考。As a pretreatment unit for preparing solargrade silicon(SG-Si) by metallurgic method,wet purification could remove most metallic impurities and nonmetallic impurities,such as boron.Experiment researched a new method to remove boron from SG-Si with mixed hydrofluoric acid-sulfuric acid as leaching agent and with organic solvent methanol as posttreatment agent.Samples were characterized by ICP and other analysis methods.When SG-Si powder had been leached at optimized conditions as follows:mass fraction of sulfuric acid was 55%,mass fraction of hydrofluoric acid was 7%,reaction temperature was 70 ℃,reaction time was 4 h,and liquid-solid mass ratio 8∶1,it was found that mass fraction of impurity boron in SG-Si was reduced to 3.867×10-6 from 6.893×10-6 and the removal rate was 41.9% after acid leaching;on the basis of the former procedure,mass fraction of impurity boron was reduced to 3.84×10-6 and the removal rate was 44.29% when treated with organic solvent.Experiment proved the feasibility of the method and provided a new reference for researching on the pretreatment of SG-Si by hydrometallurgy

Structural Stabilities of Ordered Arrays of Nb-4 Clusters on NaCl(100) Surface

National Natural Science Foundation of China [10774124]Adsorption of ordered (2 x 2) arrays of Nb-4 clusters on the insulating surface of NaCl(100) is studied by the first-principles calculations within the density functional theory. The calculations on the relaxed geometries and cohesive energies show that both the tetrahedron and quadrangle-Nb-4 can be stably adsorbed on this substrate, which may have important applications. The adsorption of quadrangle-Nb-4 on the NaCl(100) surface is more stable than that of tetrahedron-Nb-4. Both the Nb-4 clusters studied and a single Nb atom prefer the top site of the Cl atom in the NaCl(100) surface. Electronic structure analysis suggests that the interactions between the Nb-4 clusters and the substrate are weak

1978～2008年中国湿地类型变化

分别基于美国陆地卫星(Landsat MSS/TM/ETM+)和中巴资源卫星(CBERS-02B)影像数据,以人工目视解译为主,完成了中国1978～2008年4期(基准年分别为1978,1990,2000和2008年)湿地遥感制图,并进行了大量的室内外验证.在此基础上,对我国湿地现状及近30年来湿地变化进行了初步分析,得到以下主要结论:(ⅰ)截止2008年,中国湿地面积约为324097km2,其中以内陆沼泽(35%)和湖泊湿地(26%)为主.(ⅱ)1978～2008年,中国湿地面积减少了约33%,而人工湿地增加了约122%.过去30年里湿地减少的速度大幅降低,由最初5523km2/a(1978～1990年)降为831km2/a(2000～2008年).(ⅲ)减少的自然湿地(包括滨海湿地和内陆湿地),其类型变化由湿地向非湿地转化的比例逐渐降低.初期(1978～1990年)几乎全部(98%)转换为非湿地;在1990～2000年间减少的自然湿地约有86%转化为非湿地,而在2000～2008年,这一比例下降为77%.(ⅳ)气候变化和农业活动是中国湿地变化的主要驱动因素,湿地变化在中国分为三大不同特征区域,即西部三省/自治区(西藏、新疆和青海)、北部两省/自治区(黑龙江和内蒙古)和其他省市区.其中西部区域尤其是青藏高原,湿地变化的驱动因子以气候增温为主;新疆湿地由于气候增温和农业活动共同作用造成变化不大.北部省/自治区的湿地变化则主要由农业活动引起;而其他省市区的湿地变化几乎完全受控于人类的农业经济活动