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Xu S.,Shanghai University | Xu S.,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics | Wang Y.,Shanghai University | Sun C.-K.,Shanghai University
Tien Tzu Hsueh Pao/Acta Electronica Sinica | Year: 2016

The mission planning problem of a team of modular and reconfigurable robots (MRRs) in hospital service is studied. By analyzing and modeling, it is abstracted as a multidimensional combinatorial optimization problem with multiobjectives and multiconstraints. A population-based metaheuristic, the Improved Binary Bees Algorithm (IBBA), is proposed to optimize this NP-hard problem. The IBBA is featured as, 1) Functional partitioning and parallel implementation of global search and local search; 2) Integrating the methods of combinatorial schemes' expression and evolution, multiobjectives' handling and constraints' handing into the basic algorithm framework; and 3) Improving local search strategy from the prototype algorithm. Experiments are conducted with respect to a practical example. The IBBA exhibits feasibility, stability and advantages over its prototype algorithm in indices of solution quality, computational efficiency and single-objective optimization. Further, the advantages are interpretable from algorithm mechanisms. This study extends the field of research of MMR, and provides a general modeling method and optimization algorithm to solve general combinatorial optimization problems with multiobjectives and multiconstraints. © 2016, Chinese Institute of Electronics. All right reserved.

Zhao Q.,Shanghai University | Zhao Q.,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics | Shao H.,Shanghai University | Lu J.,Shanghai University
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | Year: 2014

Human-service robot natural interaction plays an important role for service robot application, and the correct judgment of interactive intention is the foundation to improve interaction effect and reliability. This paper proposes a human-interactive collaboration interface-mobile service robot system; through detecting the head and eye behaviors based on machine vision approach, combining the feedback of robot operating scene, the user's head facing region is identified as the preliminary region of interest. Moreover, according to the direction of eye gaze the specific gazing target is determined; by this way, the user's interested target can be followed and the interaction intention can be identified. Finally, we established a test platform and some experiments were conducted; the results suggest that the proposed method can effectively identify the user's interactive intention, which provides a new way for the further study of the collaboration between service robot and human. ©, 2014, Science Press. All right reserved.

Yao Y.,Shanghai University | Yao Y.,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics | Guo M.,Shanghai University
Jisuanji Fuzhu Sheji Yu Tuxingxue Xuebao/Journal of Computer-Aided Design and Computer Graphics | Year: 2014

In order to design controllable porous structures within mesh models, this paper presents a design method for assembling volumetric structures. Firstly, the mesh model is divided into a set of assembling subspaces. Secondly, the unit structures represented by implicit surfaces are assembled into the subspace and optimized with local rules. Finally, a mesh surface is extracted from the assembled parametric model to represent the internal structure of the model. Experimental results show that the method can generate the mesh model with gradient and smooth porous structures, avoiding possible errors brought about by performing a large number of Boolean operations.

Zhao Q.,Shanghai University | Zhao Q.,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics | Meng Q.,Shanghai University
Zhongguo Jiguang/Chinese Journal of Lasers | Year: 2015

In order to enhance the precision of the three-dimensional (3D) measurement system based on the laser sensors, an on-line calibration process based on structure parameter is proposed in this content. In this method, the structure object with known parameters is measured by the laser scanner, with its model being established within the laser scanner coordinate system and inertial measurement sensor coordinate system separately, and the linear feature on the scanned plane being extracted, then the relative position and orientation relationship is calculated with the constraint conditions of the structure parameters. The initial value calibration experiment is conducted on the 3D measurement system, then the initial values is used to conduct on-line calibration experiment, and the average relative error of measurement is below 0.9%, which means the calibration and measurement method is accurate and can adapt to different work conditions. © 2015, Science Press. All right reserved.

Liu Y.,Shanghai University | Liu Y.,Shanghai Key Laboratory of Intelligent Manufacturing and Robotics | Xiang K.,Shanghai University | Chen H.,Shanghai University | And 3 more authors.
AIP Advances | Year: 2015

Composite vascular grafts formed by micro-imprinting and electrospinning exhibited improved mechanical properties relative to those formed by electrospinning alone. The three-layered composite grafts mimic the three-layered structure of natural blood vessels. The middle layer is made by micro-imprinting poly-p-dioxanone (PPDO), while the inner and outer layers are electrospun mixtures of chitosan and polyvinyl alcohol. The graft morphology is characterized with scanning electron microscopy. For constant graft thicknesses, the PPDO increases the mechanical strength. Cells cultivated on the vascular grafts adhere and proliferate better because of the natural, biological chitosan in the inner and outer layers. Overall, the composite scaffolds could be good candidates for blood vessel repair. © 2015 Author(s).

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