Inverse Kinematics Analysis of Weld Inspection Manipulator at Pipe Joint in Nuclear Industry

A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.     

Parameter Estimation for Blur Image Combining Defocus and Motion Blur using Cepstrum Analysis

The degraded parameters recognition is very important for the restoration of blurred images. There are two common types of blurs for most camera systems. One is the defocus blur due to the optical system's defocus phenomenon and the other is the motion blur due to the relative movement between the objectives and the camera. Compared with the recognition for the blurred image with only one blur model, the parameter estimation for the picture combining defocus and motion blur models is a more complicated mission. A method was proposed for computer to estimate the parameters of defocus blur and motion blur in cepstrum area simultaneously. According to characters of both blur models in the frequency domain, an adjustment approach was suggested in the frequency area and then convert to the cepstrum field to increase the accuracy of measurement.     

Artificial anal sphincter with sensor feedback powered by transcutaneous energy transmission

This artificial anal sphincter (AAS) is used to help patients who are in severe incontinence. It consists of two parts. The first part is taken outside with patients. The second is implanted in the bodies to provide independent evacuation for patients. It is powered through transcutaneous energy transmission by the first part. There are two sensors in the second part. One sensor measures the pressure in the cuff-clamp around the recta. The other measures the pressure of the recta. As soon as the pressure measured by the later reaches the threshold, a signal is sent out to patients through wireless communication to alarm patients preparing defecation. Patients can give a start signal to begin defecating after they are ready. And they can also give a signal to stop defecating like a healthy person. With the aids of the novel medical device, patients can defecate as a healthy person. The first generation of this AAS is presented.     

Feasibility of localizing in vivo micro-devices with electromagnetic methods

In order to measure the location of medical micro-devices in the gastrointestinal tract, electromagnetic methods were developed considering the magnetic permeability of human bodies. Two varieties of electromagnetic localization methods have been implemented： one uses direct current（DC） to generate the electromagnetic field, and the other uses alternating current （AC）. The two varieties of the localization principle were analyzed and relevant experiments were made. The experiments show that the alternating electromagnetic method acquires higher accuracy, higher stability and wider measurement range.     

A wireless video capsule endoscopy system: Design and realization

Wireless capsule endoscopy(CE), an image inspection technique, has been an important advancement in the diagnosis of gastrointestinal(GI) tract diseases. A video capsule endoscopy(VCE) system is analyzed in this study. A complementary metal oxide semiconductor(CMOS) analog image sensor is adopted, and other illumination, communication and energy modules are designed for functional realization. Measuring only φ11 mm ×25 mm, the VCE has a total power consumption of 52.5 m W, which enables it to work continuously for 8 h. The in vivo experiment on a living pig indicates that a clear video with high frame rate of 30 f/s can be obtained.     

微型六足仿生机器人的研究

介绍一种新的六足微型机器人的结构和控制,分析机器人移动的原理．该机器人基于仿生学的原理,它的结构简单,设计独特,能前进和后退．机器人的外部尺寸是：长度30毫米,宽度40毫米,高度20毫米,重6．3克．对该机器人的样机进行试验,实验结果该机器人有好机动性能。     

Research on Miniature Hexapod Bio-robot

This paper described the structure and control of a new kind of miniature hexapod bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can move forwards and backwards. The external dimensions of bio-robot is： length 30 mm, width 40 mm, height 20 mm, weight 6. 3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.     

THEORY AND APPLICATION OF M-BAND WAVELET TRANSFORM

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Optimization of Demosaicing Algorithm for Autofluorescence Imaging System

Autofluorescence imaging(AFI) systems are widely used in the detection of precancerous lesions.Fluorescence images of precancerous tissue are usually red(R) or blue(B), so this kind of system has high requirement for colour recovery, especially in R and B channels. Besides, AFI system requires bulk data transmission with no time delay. Existing colour recovery algorithms focus more on green(G) channel, overlooking R and B channels. Although the state-of-art demosaicing algorithms can perform well in colour recovery, they often have high computational cost and high hardware requirements. We propose an efficient interpolation algorithm with low complexity to solve the problem. When calculating R and B channel values, we innovatively propose the diagonal direction to select the interpolation direction, and apply colour difference law to make full use of the correlation between colour channels. The experimental results show that the peak signal-to-noise ratios(PSNRs)of G, R and B channels reach 37.54, 37.40 and 38.22 dB, respectively, which shows good performance in recovery of R and B channels. In conclusion, the algorithm proposed in this paper can be used as an alternative to the existing demosaicing algorithms for AFI system.     

Optimization design and experiment of the radio frequency transmission utilized in video capsule endoscope

In view of fuzzy and unstable images received in video capsule endoscopy, and the poor communication effect, an improved radio frequency (RF) transmission circuit module with low power consumption and helix antenna is designed to improve the performance of video transmission and to extend the working time of the capsule. Simulation and analysis of the circuits and antenna with HFSS12 and ADS2011 software are highlighted. Video capsule endoscope prototypes are made and evaluated to verify the feasibility of the proposed design. In vitro tests and animal experiments show that the results of the antenna tests basically meet the simulation, and the power consumption of RF circuit is 15.9mV. The video capsule endoscope works well with the receiver with multiple receiving antennas, and the working time is more than 9 h. It can realize the wireless transmission of the video data, and images received are clear and stable in comparison with the previous designs.