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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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An online inertial sensor-guided motion control for tracking human arm movements by robots

An online inertial sensor-guided motion control for tracking...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Alejandro Rodriguez-Angeles America Morales-Diaz Juan-Carlos Bernabé Gustavo Arechavaleta Departamento de Ingenierfa Electrica Centro de Investigaci6n y de Estudios Avanzados del lPN D.F. Mexico Robotics and Advance Manufacturing Group Centro de Investigaciòn y de Estudios Avanzados del IPN Saltillo Coahuila Mexico Robotics and Advance Manufacturing Group Centro de Investi-gaci6n y de Estudios Avanzados del lPN Saltillo Coah Mexico

We propose a simple and efficient online strategy based on inertial sensors to follow human arm movements in the task space by robotic platforms. The strategy is composed by the following ingredients: 2 inertial sensors attached to the human arm and forearm, the differential kinematics (DK) as well as the dynamic model of the corresponding robot and a motion control scheme. We use inertial sensors to obtain the orientation measurements of the human bodies in real-time. These body parameters together with the DK module allow us to map human hand trajectories into the joint space of the robot, where a standard PID control is implemented. Overall our strategy is able to transfer motion skills from human to a given robot by means of an online inertial sensor-guided motion control. Moreover, our method can be used for robot teleoperation applications in a master-slave configuration, with a human interface based on inertial sensors. We have successfully validated in simulations the effectiveness of the proposed strategy in a 2 degrees of freedom (dof) planar robot.

关键词： Robot sensing systems Humans Joints Tracking Trajectory

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Highly precise master-slave robot system for super micro surgery

Highly precise master-slave robot system for super micro sur...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Young Min Baek Yasuhide Kozuka Naohiko Sugita Akio Morita Shigeo Sora Ryo Mochizuki Mamoru Mitsuishi School of Engineering University of Tokyo Bunkyo Tokyo Japan Kanto Medical Center NTT EC Tokyo Japan Tokyo Metropolitan Police Hospital Nakano Tokyo Japan NHK Engineering Services Inc. Setagaya Tokyo Japan

Super micro surgery in neurosurgical field is very challenging problem because neurosurgeons handle very tiny object through a microscope. Advances in technology such as microscope make micro surgery possible, but manipulating small instruments under the circumstance of microscope restricts the humans' dexterity even in the constrained workspace. To perform micro surgery successfully, we have developed a master-slave surgical robot system. Our objective is to achieve the high accuracy of positioning and improving operability of micro surgery. In this paper, we address mainly mechanical design issues of slave manipulator and control system. We evaluated our system through suturing experiments with fine artificial blood vessels. The preliminary results show the improvement of surgeon's dexterity and operability.

关键词： Manipulators Polynomials Neurosurgery Medical robotics Servomotors

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3D path planning for unmanned aerial vehicles using visibility line based method

3D path planning for unmanned aerial vehicles using visibili...

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作者： Omar, Rosli Gu, Dawei Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Johor Malaysia Department of Engineering University of Leicester LE1 7RH Leicester United Kingdom

ISBN: (纸本)9789898425003

In path planning, visibility graph (or visibility line (VL)) method is capable of producing shortest path from a starting point to a target point in an environment with polygonal obstacles. However, the run time increases exponentially as the number of obstacles grows, causing this method ineffective for real-time path planning. A 2D path planning framework based on VL has recently been introduced to find a 2D path in an obstacle-rich environment with low run time. In this paper we propose 3D path planning algorithms based on the 2D framework. Several steps are used in the algorithms to find a 3D path. First, a local plane is generated from a local starting point to a target point. The plane is then rotated at several pre-defined angles. At each rotation, a shortest path is calculated using 2D algorithms. After rotations at all angles have been done, the shortest one is selected. Simulation results show that the proposed 3D algorithms are capable in finding paths in 3D environments and computationally efficient, thus suitable for real time application.

关键词： Visibility

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Design of wireless power management SOC for active capsule endoscope

Design of wireless power management SOC for active capsule e...

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Shun Yao Xiaofeng Gu Lei Wang Jinyong Zhang School of Information Technology Jiangnan University Wuxi China Key Laboratory for Biomedical Informatics and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy and Sciences Shenzhen China

This paper proposes a novel wireless power supply solution, and designs a power management system-on-chip (SOC) for active capsule endoscope. The SOC consists of a high-efficiency rectifier, two excellent performances low-dropout regulator (LDO) and a rapid battery charger management unit. The self-resonant coil inside the human body is used to receive energy, and the energy is rectified and regulated to generate a stable voltage for charging a button battery, which provides stable power for controlling and driving the system by the low dropout (LDO2) regulator fixed in the capsule endoscope. The power management SOC was designed using a 0.18-um CMOS high voltage process. Simulation results indicate that the rectifier has high conversion efficiency of voltage and power under 12mA load. The LDO1 output can keep at 4.4V in spite of the variations of input voltage and loading current. The preliminary system simulation indicates the SOC achieves control of battery charging-recharging.

关键词： Endoscopes Batteries Rectifiers Wireless communication Voltage control Regulators System-on-a-chip

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Intellectual Algorithm Interaction improvement by the automation Education Systems with the User

Intellectual Algorithm Interaction improvement by the Automa...

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2010 The 3rd international conference on Computational Intelligence and Industrial Application (PACIIA2010)

作者： Uglev Viktor Department of Applied Informatics Siberian Federal University

The paper considers an integrated approach to trajectory learning algorithms for individualizing a person in the automated training systems based on Artificial Intelligence methods,Learning Computer Testing and Cognit... 详细信息

关键词： automation Educated System,Learning Computer Testing,Cognitive Maps of Diagnosis Knowledge,Artificial Intelligence

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Correlation between impact-energy density and pain intensity during robot-man collision

Correlation between impact-energy density and pain intensity...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Borut Povse Darko Koritnik Tadej Bajd Marko Munih R & D Department for Automation Robotics and Electronic Instrumentation Dax Electronic Systems Company Trbovlje Slovenia Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia

This paper presents an investigation focused on cooperation of a small industrial robot and a human operator. During their cooperation the collision is expected only between the robot end-effector and the lower arm of the human worker. To ensure safe and comfortable human-robot interaction the impact must not cause any injury or considerable pain to the human operator. An investigation with human volunteers was performed, to study the impact between the robot and the man. To determine a safe range of the impact intensity with human subjects, a preliminary investigation was performed on one of the authors of this paper. During the experiment, the volunteers determined the pain they felt after each impact using a graphical user interface. In the experiments, the robot end-effector collided with the volunteer's lower arm perpendicularly at a constant deceleration. The point of impact was positioned midway between the wrist and the elbow on the dorsal aspect of the lower arm. The robot end-effector was displaced from the initial point toward the point of impact along a straight line. Several tests were carried out at maximal velocity, different robot decelerations, various end- effector shapes, and varying depth of stop point with regard to the arm surface. The impacts between robot end-effector and human arm were evaluated using a measuring system comprised of a force sensor and an optical measuring system. The goal of the investigation was to determine the correlation between the pain intensity felt during the impact and the impact energy density.

关键词： Pain Collision avoidance Humans Manipulators Service robots Robot sensing systems

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Optimization of a thermal slip sensor using FEM and dimensional analysis

Optimization of a thermal slip sensor using FEM and dimensio...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Dino Accoto Maria Teresa Francomano Antonella Benvenuto Ciro Luccarelli Eugenio Guglielmelli Laboratory of Biomedical Robotics and Biomicrosystems Universitá Campus Bio-Medico di Roma Rome Italy

During manipulation tasks it is important to maintain a precise and safe control of the grasping force. Slip detection plays a key role to assure an adequate adaptation of the grasping force, without object damaging. Several approaches to slip detection are currently under investigation. In particular, thermal slip sensors use a detection strategy similar to the one employed in hot wire anemometry, using a microfabricated thermal probe for detecting the convective heat flux associated to the movement of the touched object. This paper reports on the model-based optimization of a thermal slip sensor, intended for robotic prosthesis. In particular, an analytical thermal model has been developed, by merging FEM and dimensional analysis. A sensitivity analysis, performed on the parameters appearing in the model, has been performed for optimizing both sensor's geometry and materials in order to increase the heat flux and thereby to obtain a reduction of response times in the identification of slip. Simulations on the proposed design indicate an expected increase of the thermal dissipated power of about 400%.

关键词： Robot sensing systems Heating Thermal analysis Materials Thermal conductivity Temperature sensors Resistors

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Leaves and inverse degree of a graph

Leaves and inverse degree of a graph

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international conference on BioMedical Engineering and informatics (BMEI)

作者： Bing Yao Xiang-en Chen Ming Yao Jiajuan Zhang Jingxia Guo College of Mathematics and Information Science Northwest Normal University Lanzhou Gansu China Department of Information Process and Control Engineering Lanzhou Petrochemical College of Vocational Technology Lanzhou China

There are many long-standing conjectures on trees, and many invariants of graphs arose from Graffiti conjectures. Let diam(G) and id(G) = Σ u∈V(G) 1/deg G (u) be the diameter and the inverse degree of a connected graph G, respectively. The notation n d (G) indicates the number of vertices of degree d in G. We show that (i) diam(G) + id(G) ≤ 3/2 |G|. (ii) id(G) ≤ 1/2 |G|+1 if G is hamiltonian. (iii) id(G) ≤ n1 (T)+|M|-1/2 for a certain spanning tree T and a largest matching M of G. (iv) For a tree T on n vertices, 2 ≤ 2 · id(T ) - n ≤ n 1 (T), diam(T) + n 1 (T) + 1 ≤ 2 · id(T ), diam(T) + id(T ) ≤ 2n-n 1 (T)-1/2n 2 (T)+1, and 2·id(T ) ≤ 2(n 1 (T )+|M|)-1 for a largest matching M of T.

关键词： Mathematics Educational institutions Information science informatics Biomedical engineering USA Councils Terminology

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Analysis of the slip-related falls and fall prevention with an intelligent shoe system

Analysis of the slip-related falls and fall prevention with ...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hiroshi Onodera Takeshi Yamaguchi Hiroteru Yamanouchi Kazumasa Nagamori Masaru Yano Yasuhisa Hirata Kazuo Hokkirigawa National Nishitaga Hospital Japan Science and Technology Agency-CREST Sendai Japan Graduate School of Engineering University of Tohoku Sendai Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan

We studied a relationship between a zero moment point (ZMP) and a base of support (BOS) during slipping. ZMP is the point on the ground where no moment may be transmitted about the whole body center of mass (COM). When subjects could walk without slipping, ZMP was located within the BOS at a single support phase. When a fall after a forward slip was observed, the ZMP remained outside of the BOS edge. The maximum distance between the ZMP and the BOS edge (L max ) was longer in the fall group than in the recovery group (p max. An intelligent shoe system, which can extend the shoe sole area (BOS) laterally, improved both static standing balance and dynamic standing balance. Thus, appropriate coefficient of sliding friction on the shoe sole and intelligent control of the shoe sole area would be of value in reducing the risk of falling, particularly for the people with movement disorders.

关键词： Footwear Foot Artificial intelligence Legged locomotion Torso Force Sensors

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An approach to robotic guidance of an uncalibrated endoscope in beating heart surgery

An approach to robotic guidance of an uncalibrated endoscope...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Aleksandra Popovic Paul Thienphrapa Philips Research North America Briarcliff Manor NY USA Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore MD USA

Minimally invasive cardiac surgery is performed under direct vision provided by an endoscope. During cardiac bypass surgery, counterintuitive control and small field-of-view endoscopic visualization is not sufficient to localize all relevant structures of the heart. This work presents a first step towards enhanced endoscopic visualization in cardiac surgery by allowing image based steering of the endoscope without the need of camera calibration. In the envisioned clinical scenario, a surgeon or an endoscopy assistant selects a point or an area in the live endoscope video stream and the robotic system steers the endoscope towards the selected target on a beating heart. Experiments in a simulated setup have shown that the algorithm successfully performs various feature tracking tasks within the requirements. The results from these experiment led to an improvement of the algorithm to enhance the final stage of feature capturing. With the lessons learned in the simulated setup, next series of experiments have been performed in a clinical-like setting on a beating heart phantom. The experiments show that all reasonable target features can be reached within 1.2 s and 7 pixels of accuracy at a safe and conservative robot speed.

关键词： Endoscopes Surgery Robot kinematics Heart Jacobian matrices Cameras

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