Shaorong Xie

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Obstacle avoidance ability is the significant embodiment of the ground mobile robot, and the basic guarantee of the ground mobile robot to perform various tasks. Obstacle avoidance technologies are divided into two kinds, one is based on the global map and another is based on sensors respectively. This paper mainly aims at the local obstacle avoidance(More)
A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this(More)
In robotic micromanipulation, end-effector tips must be first located under microscopy imaging before manipulation is performed. The tip of micromanipulation tools is typically a few micrometers in size and highly delicate. In all existing micromanipulation systems, the process of locating the end-effector tip is conducted by a skilled operator, and the(More)
Compared to robotic injection of suspended cells (e.g., embryos and oocytes), fewer attempts were made to automate the injection of adherent cells (e.g., cancer cells and cardiomyocytes) due to their smaller size, highly irregular morphology, small thickness (a few micrometers thick), and large variations in thickness across cells. This paper presents a(More)
This article reports on the first robotic system for vitrification of mammalian embryos. Vitrification is a technique used for preserving oocytes and embryos in clinical in vitro fertilization (IVF). The procedure involves multiple steps of stringently timed pick-and-place operation for processing an oocyte/embryo in vitrification media. In IVF clinics, the(More)
Pick-place of single nanowires inside scanning electron microscopes (SEM) is useful for prototyping functional devices and characterizing nanowires's properties. Nanowire pick-place has been typically performed via teleoperation, which is time-consuming and highly skill-dependent. This paper presents an automated approach to the pick-place of single(More)
Generally the scene of the visual surveillance using one camera is confined within certain limits. If you want to extend the surveillance area, you need multiple cameras. It attempts to detect, recognize and track certain objects from image sequences. This paper presents a simple and effective approach segmenting and tracking a moving object from a moving(More)
A long-standing question in natural reproduction is how mammalian sperm navigate inside female reproductive tract and finally reach the egg cell, or oocyte. Recently, fluid flow was proposed as a long-range guidance cue for sperm navigation. Coitus induces fluid flow from oviduct to uterus, and sperm align themselves against the flow direction and swim(More)
The surveillance and inspection of underwater pipelines are carried out by operators who drive a remotely operated underwater vehicle (ROV) with camera mounted on it. However in very turbid water, the camera can not capture any scene, even with auxiliary high-intensity light. In this case the optical detection devices are unable to complete the surveillance(More)
Firstly, the characteristics of UAV visual tracking system were analysed, secondly the three-dimensional oculomotor control system model of biomimetic eye was developed based on the oculomotor neural paths. Then a new UAV visual tracking system was established. The on-board pan-tilt camera control system based on biomimetic eye can compensate the deflection(More)