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学者姓名：何素梅
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Abstract ：
本发明涉及一种力/位触觉传感器检测系统及检测方法，包括力/位触觉传感器、激励源、模拟开关、信号处理电路、模数转换器和控制器；所述激励源通过模拟开关与所述力/位触觉传感器电性相连；信号处理电路也通过模拟开关与力/位触觉传感器电性相连；控制器与所述模拟开关电性相连，用以控制所述模拟开关的切换状态，进而切换所述力/位触觉传感器的激励电极组与激励源和信号处理电路的连接；信号处理电路经模数转换器连接至所述控制器，信号处理电路还连接至所述激励源。本发明只需通过对两组激励电极分时施加激励源，就能采集到压力和位置的电压信号，成本低，大大缩减了检测周期，并能有效地将输出信号换算成实际受压位置坐标和压力大小。
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| GB/T 7714 | 何素梅 , 黄书亨 , 林政康 et al. 一种力/位触觉传感器检测系统及检测方法 : CN201811327852.6[P]. | 2018/11/9 . |
| MLA | 何素梅 et al. "一种力/位触觉传感器检测系统及检测方法" : CN201811327852.6. | 2018/11/9 . |
| APA | 何素梅 , 黄书亨 , 林政康 , 张友志 , 吴海彬 . 一种力/位触觉传感器检测系统及检测方法 : CN201811327852.6. | 2018/11/9 . |
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This paper introduces a robot collision avoidance method using Kinect and global vision to improve the industrial robot's security. Global vision is installed above the robot, and a combination of the background-difference method and the Otsu algorithm are used. Human skeleton detection is then introduced to detect the location information of the human body. The collided objects are classified into nonhuman and human obstacle which is further categorized into the human head and non-head areas such as the arm. The Kalman filter is used to predict the human gesture. The human joints danger index is used to evaluate the risk level of the human on the basis of human body joints and robot's motion information. Finally, a motion control strategy is adopted in view of obstacle categories and the human joint danger index. Results show that the proposed method can effectively improve robot's security in real time. © 2017 Universitas Ahmad Dahlan.
Keyword ：
Global vision; Human body skeleton detection; Kalman filter; Robot safety; Security control Global vision; Human body skeleton detection; Kalman filter; Robot safety; Security control
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| GB/T 7714 | Wu, H. , Huang, J. , Yang, X. et al. A robot collision avoidance method using Kinect and global vision [J]. | Telkomnika (Telecommunication Computing Electronics and Control) , 2017 , 15 (1) : 4-17 . |
| MLA | Wu, H. et al. "A robot collision avoidance method using Kinect and global vision" . | Telkomnika (Telecommunication Computing Electronics and Control) 15 . 1 (2017) : 4-17 . |
| APA | Wu, H. , Huang, J. , Yang, X. , Ye, J. , He, S. . A robot collision avoidance method using Kinect and global vision . | Telkomnika (Telecommunication Computing Electronics and Control) , 2017 , 15 (1) , 4-17 . |
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为防止机器人在运动过程中与人相撞,提高机器人运动的安全性,提出一种基于危险指数最小化的机器人安全运动规划方法。该运动规划方法把机器人的运动分为全局安全路径规划、在线实时安全轨迹规划、实时避碰控制和目标再搜索等四个阶段。基于人机之间的距离、机器人惯量、人机之间相对运动速度等因素,对每一阶段进行危险程度的评估,得到危险指数,以危险指数最小化为目标规划各阶段机器人的运动。建立三自由度机器人与人共处数学模型,并在Matlab下对不同阶段的运动规划进行仿真。为了进一步验证算法有效性,搭建了工业机器人安全运动规划试验平台,实现了基于危险指数最小化的安全避碰。仿真与试验结果表明,基于危险指数最小化的机器人安...
Keyword ：
危险指数 危险指数 安全运动规划 安全运动规划 实时避碰控制 实时避碰控制 机器人安全性 机器人安全性 目标再搜索 目标再搜索
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| GB/T 7714 | 吴海彬 , 彭爱泉 , 何素梅 . 基于危险指数最小化的机器人安全运动规划 [J]. | 机械工程学报 , 2015 , 51 (09) : 18-27 . |
| MLA | 吴海彬 et al. "基于危险指数最小化的机器人安全运动规划" . | 机械工程学报 51 . 09 (2015) : 18-27 . |
| APA | 吴海彬 , 彭爱泉 , 何素梅 . 基于危险指数最小化的机器人安全运动规划 . | 机械工程学报 , 2015 , 51 (09) , 18-27 . |
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This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control.
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| GB/T 7714 | He, Sumei , Ye, Jinhua , Li, Zhijing et al. A Momentum-Based Collision Detection Algorithm for Industrial Robots [C] . 2015 : 1253-1259 . |
| MLA | He, Sumei et al. "A Momentum-Based Collision Detection Algorithm for Industrial Robots" . (2015) : 1253-1259 . |
| APA | He, Sumei , Ye, Jinhua , Li, Zhijing , Li, Shiyi , Wu, Guokui , Wu, Haibin . A Momentum-Based Collision Detection Algorithm for Industrial Robots . (2015) : 1253-1259 . |
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The video based detection of fire hazards is one of the significant developments in recent years. However, the conventional vision based flame detection algorithms suffer with the issues of low detection rate and high false-alarm rate. A novel real time video processing method is proposed in this paper that detects the flames by combining the flame motion detection technique with color clues and flame flicker to reach the final detection. The proposed fire detection framework builds an efficient background model by optimizing the selective background update to extract the fire-like moving regions in the video frames. Furthermore, a YCbCr color space based analysis technique is applied to improve the fire-pixel classification. Finally, a flame flicker identification algorithm based on the statistical frequencies is used to confirm whether it is fire region. The experimental results show that the proposed algorithm has high detection rate and low false-alarm rate, it is accurate, robust and effective compared to the existing methods. Copyright © 2015 Binary Information Press.
Keyword ：
Algorithms Algorithms Color Color Computer vision Computer vision Errors Errors Fire detectors Fire detectors Fire hazards Fire hazards Fires Fires Image resolution Image resolution Motion analysis Motion analysis Object detection Object detection Object recognition Object recognition Video signal processing Video signal processing
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| GB/T 7714 | He, Sumei , Yang, Xiaoning , Zeng, Sitong et al. Computer vision based real-time fire detection method [J]. | Journal of Information and Computational Science , 2015 , 12 (2) : 533-545 . |
| MLA | He, Sumei et al. "Computer vision based real-time fire detection method" . | Journal of Information and Computational Science 12 . 2 (2015) : 533-545 . |
| APA | He, Sumei , Yang, Xiaoning , Zeng, Sitong , Ye, Jinhua , Wu, Haibin . Computer vision based real-time fire detection method . | Journal of Information and Computational Science , 2015 , 12 (2) , 533-545 . |
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To limit the falling of many power poles in areas affected by typhoons, the wind-bearing capability of pole foundations must be verified for transmission and distribution. A mechanical loading scheme is proposed in this paper to simulate the wind loads for power poles in transmission and distribution systems. First, the calculation algorithm for wind loads on wired power poles is discussed, and the range of wind loads is derived and highlighted for normal power poles. Consequently, a mechanism model that is loaded with a pole bending moment is presented, and a detailed mechanical design of the loading mechanism is implemented through optimization and simulation. Detection units and motor devices are designed for installation on the mechanism links to realize the automatic loading and unloading control of pole bending moments. Field experiment results show that the bending moment exerted on power poles can reach a maximum value of 40kNm loading moment. Furthermore, this system has the advantages of automatic loading and unloading, convenient assembly and disassembly, and easy operation. Hence, the research achieves its objective.
Keyword ：
bending moment loading bending moment loading mechanical optimization mechanical optimization pole foundation pole foundation wind loads wind loads
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| GB/T 7714 | He Sumei , Ye Jinhua , Li Zhijing et al. Automatic Loading System of Bending Moment for Power Poles [C] . 2015 : 535-542 . |
| MLA | He Sumei et al. "Automatic Loading System of Bending Moment for Power Poles" . (2015) : 535-542 . |
| APA | He Sumei , Ye Jinhua , Li Zhijing , Li Jinwen , Wu Haibin , Guo Xiaojun et al. Automatic Loading System of Bending Moment for Power Poles . (2015) : 535-542 . |
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In order to prevent robot colliding to human, and improve robot safety during motion, a method of robot safe motion planning based on minimized danger index is proposed. The motion planning of robot is divided into four steps which include global path safe planner, real-time safe trajectory planner, real-time anti-collision controller and goal re-searching. The danger degree can be estimated based on the robot inertia, the distance and relative speed between robot and human during every planning step, and it described as danger index. The motion of robot can be planned by minimizing the danger index. A mathematic model including a 3 degree of freedom robot and human is established. Every motion planning step is simulated in Matlab. To further verify the validity of the planning algorithm, a safe motion planning experiment platform of industrial robot is established, and safe avoiding collision is realized based on minimized danger index. The simulation and experiment results show that this robot safe motion planning method based on minimized danger index is capable of ensuring human safety in coexistence environment of robot and human. ©2015 Journal of Mechanical Engineering
Keyword ：
Collision avoidance Collision avoidance Degrees of freedom (mechanics) Degrees of freedom (mechanics) MATLAB MATLAB Motion planning Motion planning Robot programming Robot programming Robots Robots
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| GB/T 7714 | Wu, Haibin , Peng, Aiquan , He, Sumei . Robot safe motion planning based on minimized danger index [J]. | Journal of Mechanical Engineering , 2015 , 51 (9) : 18-27 . |
| MLA | Wu, Haibin et al. "Robot safe motion planning based on minimized danger index" . | Journal of Mechanical Engineering 51 . 9 (2015) : 18-27 . |
| APA | Wu, Haibin , Peng, Aiquan , He, Sumei . Robot safe motion planning based on minimized danger index . | Journal of Mechanical Engineering , 2015 , 51 (9) , 18-27 . |
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Abstract ：
This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control. © 2015 IEEE.
Keyword ：
Biomimetics Biomimetics Industrial robots Industrial robots Momentum Momentum Robotics Robotics Signal detection Signal detection
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| GB/T 7714 | He, Sumei , Ye, Jinhua , Li, Zhijing et al. A momentum-based collision detection algorithm for industrial robots [C] . 2015 : 1253-1259 . |
| MLA | He, Sumei et al. "A momentum-based collision detection algorithm for industrial robots" . (2015) : 1253-1259 . |
| APA | He, Sumei , Ye, Jinhua , Li, Zhijing , Li, Shiyi , Wu, Guokui , Wu, Haibin . A momentum-based collision detection algorithm for industrial robots . (2015) : 1253-1259 . |
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Abstract ：
To limit the falling of many power poles in areas affected by typhoons, the wind-bearing capability of pole foundations must be verified for transmission and distribution. A mechanical loading scheme is proposed in this paper to simulate the wind loads for power poles in transmission and distribution systems. First, the calculation algorithm for wind loads on wired power poles is discussed, and the range of wind loads is derived and highlighted for normal power poles. Consequently, a mechanism model that is loaded with a pole bending moment is presented, and a detailed mechanical design of the loading mechanism is implemented through optimization and simulation. Detection units and motor devices are designed for installation on the mechanism links to realize the automatic loading and unloading control of pole bending moments. Field experiment results show that the bending moment exerted on power poles can reach a maximum value of 40kNm loading moment. Furthermore, this system has the advantages of automatic loading and unloading, convenient assembly and disassembly, and easy operation. Hence, the research achieves its objective. © 2015 IEEE.
Keyword ：
Aerodynamic loads Aerodynamic loads Bending moments Bending moments Mechanisms Mechanisms Poles Poles Unloading Unloading Wind stress Wind stress
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| GB/T 7714 | He, Sumei , Ye, Jinhua , Li, Zhijing et al. Automatic loading system of bending moment for power poles [C] . 2015 : 535-542 . |
| MLA | He, Sumei et al. "Automatic loading system of bending moment for power poles" . (2015) : 535-542 . |
| APA | He, Sumei , Ye, Jinhua , Li, Zhijing , Li, Jinwen , Wu, Haibin , Guo, Xiaojun et al. Automatic loading system of bending moment for power poles . (2015) : 535-542 . |
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Abstract ：
为降低隧道照明消耗的大量电力，充分挖掘和利用LED（发光二极管）光源在隧道照明中的优势，以大功率白光LED照明光源为基础，提出了一套隧道照明实现亮度自动调节的解决方案。该方案采用基于RS485总线的闭环回路通信架构，能够自动生成灯节点地址编码，实现每一灯节点的独立256级灰（亮）度控制；采用光敏元件检测洞外亮度作为调节隧道内灯具输出功率的依据；系统采用GPRS无线通信方法，实现调光控制数据、故障报警的远程传输和监控。经过实验室模型验证和实际隧道的测试，说明本设计方案是可行的，同时也大幅提高了隧道照明安全、舒适的效果，节省了能源，有推广价值。
Keyword ：
LED调光 LED调光 环路通信 环路通信 自动寻址 自动寻址 隧道照明 隧道照明
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| GB/T 7714 | 何素梅 , 傅锦良 , 吴海彬 . LED隧道照明自动调光系统的设计 [J]. | 电子测量与仪器学报 , 2015 , (4) : 622-629 . |
| MLA | 何素梅 et al. "LED隧道照明自动调光系统的设计" . | 电子测量与仪器学报 4 (2015) : 622-629 . |
| APA | 何素梅 , 傅锦良 , 吴海彬 . LED隧道照明自动调光系统的设计 . | 电子测量与仪器学报 , 2015 , (4) , 622-629 . |
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