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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Junlin Ma Dongmei Wu Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun Jil State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Prov

ISBN: (纸本)9781467329705

Robot assisting artificial cervical disc replacement surgery is a surgery which is operated widely,however,because the registration of 2D/3D during the operation is the key technology and very difficult,the success rate of this surgery is very *** this paper,a 2D/3D registration method of 2D/3D aiming at this surgery based on grayscale of image is *** this registration method,ray casting method is used to generate DRR,normalized correlation is used as similarity measure and Powell’s optimizer is used as the optimization method.A test of registration using DRR simulation aiming at this registration method is also performed,and the experimental results show that the axial displacement error is below 0.5mm and the axial rotation error is below 0.2°.Because this registration method needs only two C-arm images,it can be applied to minimally invasive surgery.

关键词： Cervical disc replacement surgery 2D/3D registration DRR

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Structure topology optimization of two-dimension micro/nano angular-table

Structure topology optimization of two-dimension micro/nano ...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Mahmoud Helal Lefeng Wang Lining Sun Production and Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura EGYPT Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin CHINA

Compliant mechanisms have made an enormous contribution in the design process of various fields such as for adaptive structures, hand-held tools, components in transportations, electronics, and surgical tools. The use of compliant mechanisms will help in reducing the number of components, which therefore decrease manufacturing cost and additionally increase the performance. Topology optimization has proven to be a powerful method for the conceptual design of structures and mechanisms. Topology optimization is the technique that finds the optimal layout of the structure within a specified design domain. This paper presents the micro/nano angular-table compliant mechanism. The topology optimization is applied for designing two-dimensional micro/nano angular-table compliant mechanism. The final optimal topology configuration of the micro/nano-angular table is shown and discussed.

关键词： Optimization Topology Finite element analysis Manufacturing processes Micromechanical devices Mathematical model Materials

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Dispersion compensation for an ultrathin metal film using LCD-CCD system

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Chinese Physics B 2012年第10期21卷 265-269页

作者：代煜张建勋 Institute of Robotics and Automatic Information System Nankai University State Key Laboratory of Robotics and System Harbin Institute of Technology

A dispersion compensation method is introduced to correct the distorted image passing through an ultrathin metal *** LCD-CCD system is modeled by the back propagation network and used to evaluate the transmittance of the ultrathin metal *** samples for the network come from 729 images captured by shooting test patches,in which the RGB values are uniformity distributed between 0 and *** RGB value of the original image that will be distorted by the dispersion is first transformed by mapping from the LCD to the CCD,multiplied by the inverse matrix of the transmittance matrix,and finally transformed by mapping from the CCD to the LCD,then the corrected image is *** order to verify the effectiveness of the proposed method,ultrathin aluminum films with different thicknesses are evaporated on glass substrates and laid between the CCD and *** results show that the proposed method compensates for the dispersion successfully.

关键词： ultrathin metal film dispersion compensation back propagation network LCD-CCD system

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A fast connected components labeling algorithm for binary images

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Journal of harbin institute of technology(New Series) 2012年第3期19卷 81-87页

作者：付宜利韩现伟王树国 State Key Laboratory of Robotics and System Harbin Institute of Technology

A fast label-equivalence-based connected components labeling algorithm is proposed in this *** is a combination of two existing efficient methods,which are pivotal operations in two-pass connected components labeling *** is a fast pixel scan method,and the other is an array-based Union-Find data *** scan procedure assigns each foreground pixel a provisional label according to the location of the *** is to say,it labels the foreground pixels following background pixels and foreground pixels in different ways,which greatly reduces the number of neighbor pixel *** array-based Union-Find data structure resolves the label equivalences between provisional labels by using only a single array with path compression,and it improves the efficiency of the resolving procedure which is very time-consuming in general label-equivalence-based *** experiments on various types of images with different sizes show that the proposed algorithm is superior to other labeling approaches for huge images containing many big connected components.

关键词： binary image connected components labeling algorithm Union-Find label-equivalence

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Traveling property of wheel-type pipeline robot with different configurations

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Journal of Beijing institute of technology 2012年第1期21卷 58-63页

作者：唐德威李庆凯姜生元邓宗全 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.

关键词： pipeline robot movement in elbow pose model ratios of driving speed experiment validation

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Tremor suppression strategy of the tremor suppression robot

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Journal of harbin institute of technology(New Series) 2012年第1期19卷 1-6页

作者：赵杰李军强樊继壮臧希喆 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the development of the performance of magnetorheological damper,the tremor suppression strategy that uses angle displacement sensor and force sensor to sense the information of the tremor and uses the fuzzy neural network as the control algorithm is presented. The information of the maximum tremor torque can be achieved exactly by means fusing the data of displacement sensor and the data of force sensor. Due to the slow change of the maximum tremor torque,the fuzzy neural network with single input variable and single output variable is adopted as the control algorithm,and the mathematic model of fuzzy neural network is worked out. The elbow tremor suppression model is established to provide tremor information for fuzzy neural network training and tremor suppression strategy simulation,then the off-line fuzzy neural network training is finished with the selected training data set,and the tremor suppression strategy is simulated. Simulation results show that the tremor suppression strategy has presented is effectually for the tremor suppression.

关键词： magnetorheological damper fuzzy neural network data fusion tremor suppression strategy

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Analysis of period doubling bifurcation and chaos mirror of biped passive dynamic robot gait

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Chinese Science Bulletin 2012年第14期57卷 1743-1750页

作者： ZHAO Jie WU XiaoGuang ZANG XiZhe YAN JiHong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

With a reasonable parameter configuration,the passive dynamic walking model has a stable,efficient,natural periodic gait,which depends only on gravity and inertia when walking down a slight *** fact,there is a delicate balance in the energy conversion in the stable periodic gait,making the gait adjustable by changing the model ***é mapping is combined with Newton-Raphson iteration to obtain the numerical solution of the final state of the passive dynamic walking *** addition,a simulation on the walking gait of the model is performed by increasing the slope step by step,thereby fixing the model's parameters ***,the gait features obtained in the different slope stages are analyzed and discussed,the intrinsic laws are revealed in *** results indicate that the gait can present features of a single period,doubling period,the entrance of chaos,merging of sub-bands,and so on,because of the high sensitivity of the passive dynamic walking to the *** a global viewpoint,the gait becomes chaotic by way of period doubling bifurcation,with a self-similar Feigenbaum fractal structure in the *** the entrance of chaos,the gait sequence comprises a Cantor set,and during the chaotic stage,sub-bands in the final-state diagram of the robot system present as a mirror of the period doubling bifurcation.

关键词：倍周期分岔步态分析机器人系统 Cantor集模型参数混沌动态行走参数配置

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Design and testing of one-dimensional nano-positioning stage with large travel range and high resolution

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Nami Jishu yu Jingmi Gongcheng/Nanotechnology and Precision Engineering 2012年第5期10卷 384-389页

作者： Rong, Wei-Bin Wu, Zhen-Guang Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Design and performance testing of a one-dimensional nano-positioning stage with large travel range and high resolution are presented. Driven by dual piezoeletric actuators, the stage is developed based on differential leverage and flexible hinge. Flexible hinge stiffness, input reaction force, and amplification ratio are firstly analyzed based on material mechanics and structural vibration. The finite element analysis is used for validating amplification ratio and admissible stress. Finally, the experimental setup is developed and the performance of the stage is tested. The results show that the stage has a travel range of over 240 μm and a resolution of about 10 nm with the outsize of 80 mm × 60 mm × 20 mm. The proposed stage based on differential leverage can be used for large travel-range nano-positioning with high resolution.

关键词： Piezoelectric actuators

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Enhancing pose accuracy of space robot by improved differential evolution

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Journal of Central South University 2012年第4期19卷 933-943页

作者：刘宇倪风雷刘宏徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.

关键词： space robot self-calibration laser ranger pose accuracy improved differential evolution

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Sliding mode control with nonlinear disturbance observer for a class of underactuated system

Sliding mode control with nonlinear disturbance observer for...

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Chinese Control Conference (CCC)

作者： Jian Huang Feng Ding Yongji Wang State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

In this study, a sliding mode controller based on nonlinear disturbance observer is investigated to control a class of underactuated system which is in cascaded form. By using strict feedback, the underactuated system is presented as a special cascade normal form convenient for controller design. A sliding mode controller is designed to stabilize underacturated plant directly and drive the variables to the sliding surface. In order to improve performance and robustness, a nonlinear disturbance observer was designed to compensate for external disturbances and model uncertainties. The theoretical results are illustrated by simulations on the acrobot. The simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： Observers Sliding mode control Robustness Uncertainty Simulation Joints Friction

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