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IEEE Conference on robotics, Automation and Mechatronics

作者： Haowei Wang Pengfei Wang Xin Wang Mantian Li Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology China

The study of touchdown angle's impact on quadrupeds such as gait, stability, speed, height is valuable. This paper unifies two common models for quadrupeds-SLIP and planar model, gets a feasible and efficient fixed point search strategy, and proposes a gait classification method based on the event sequence. On this basis, we study the influence of touchdown angle on quadruped robot in a variety of energy levels, and find that the change of touchdown angle would cause cycle bifurcation and chaos phenomena. Meanwhile, we notice in certain energy level and reasonable parameters configuration, different touchdown angles mean different gaits and only change of touchdown angle can make gait transition. In a fixed energy level, the impact of touchdown angle on horizontal speed, apex height and pitch angle is not obvious, but for pitch angular velocity it has obvious effect, and we reveal the importance of pitch angle and related variables such as inertia, mass distribution for quadruped control. Under the meaning of stable fixed points, speed adjust by changing touchdown angle is of little effect; however energy control is a feasible method.

关键词： Energy states Legged locomotion Stability analysis Numerical models Numerical stability Animals

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Development of a panoramic simulation for robot assisted endoscopic surgery

Development of a panoramic simulation for robot assisted end...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Zhiyuan Yan Dongmei Wu Ruqi Ma Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In recent years, the robot for minimally invasive surgery has been expanded for wide application in clinic. However, robot assisted surgery is quite different from traditional surgery, so the training and practice are very important to the surgeon. The development of a panoramic simulation for robot assisted endoscopic surgery is described in the paper. The simulation is appropriate for da Vinci and other similar system. In this simulation, the robot model is accurately presented, and its kinematic analysis is precise. The soft tissue model used in the simulation is an improved mass-spring model. This model is suited for real-time and visual deformation. A commercial haptic device known as Omega is used in this simulation, we can easily obtain haptics by it. As a result, the user can switch between panoramic display and local scene by zoom, and can easily manipulate the virtual surgical robot to perform many surgical operations such as grasping and pushing, at the same time, the user can feel the force feedback.

关键词： Irrigation Haptic interfaces

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Modeling demand resources for ISO's demand response scheduling

Modeling demand resources for ISO's demand response scheduli...

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Power Tech Conference

作者： Hyung-Geun Kwag Jin-O Kim State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper proposes the registration information, the participation information for classifying demand resources participate in demand response program. Modeling demand resources from them, it evaluates values of demand resources. Specially assuming that ignore the loss in power system, they take a role as generation. Therefore this paper proposes the conceptual transformation of demand resources into virtual generation units and then ISO executes DR scheduling from evaluated demand resources' values and generation data, network data.

关键词： Snow

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Design and Development of a Hand Rehabilitation Robot for Patient-cooperative Therapy Following Stroke

Design and Development of a Hand Rehabilitation Robot for Pa...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Yili Fu Qinchao Zhang Fuhai Zhang Zengkang Gan The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

Stroke is very common and always leads to severe hand impairment. Traditional robotic systems have been introduced to assist therapy for a long time and already achieved certain effect. However, with further development of therapy strategies in the last few years, higher request to the rehabilitation robot has been put forward. Thus, we are developing a novel hand rehabilitation robot named HIT-glove to provide patient-cooperative therapy for hand-impaired poststroke patients. In this paper, the mechanical design of the actuated hand exoskeleton is detailed and the control strategy for patient-cooperative therapy is introduced. The actuated hand exoskeleton, which can be applied to hands in different sizes and shapes, is able to bilaterally actuate every joint of the fingers. The patient-cooperative control strategy, based on the sensing system and an interactive interface, is well designed to let the patient actively participate into the therapy. Besides, to get a better effect of functional rehabilitation of the hand, our robot is expected to provide the following two categories of therapy: motor function exercise for joints and movement coordination training for fingers.

关键词： stroke hand rehabilitation exoskeleton robotic therapy

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A 3D Stick-Slip Nanopositioner for Nanomanipulation

A 3D Stick-Slip Nanopositioner for Nanomanipulation

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Weibin Rong Shizhong Zhang Miao Yu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

A compact nanopositioner which consists of three stick-slip inertial stages was designed and built particularly for nanomanipulation inside a scanning electron microscope (SEM). Considering linear dynamics of PZT and nonlinear friction between slider and rod, a comprehensive model representation of the stick-slip stage was presented and verified by being compared with experimental results. Resolution to 10nm has been achieved and the ability to lift up to 70g has been demonstrated. Some manipulations of nanowires were performed in assistant of the nanopositioner we developed, including picking up and bending single ones. Both results of experiments and manipulations demonstrated the excellent performance of the nanopositioner.

关键词： Nanopositioner stick-slip friction modeling nanomanipulation.

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Improvement of Microchannel Geometry Subject to Lateral Dielectrophoresis Using Numerical Simulations

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Procedia Engineering 2011年 15卷 336-340页

作者： L.N. Sun D.L. Liu L.G. Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

Continuous particles separation device by lateral dielectrophoretic force shows a favorable promise for multiple cell population separation and purification. This paper addresses the effects of micro-channel geometry shape on the electric field distribution and the distribution of the gradient of electric field square which has a direct influence on the magnitude of the dielectrophoretic force. Before this was done, the influence of aspect ratio of micro-channel geometry was investigated first. Numerical method was adopted in this paper to study the electric field distribution and the gradient of the electric field square distribution. Results show that micro-channel geometry shape and its aspect ratio have great influence on the electric field distribution and dielectrophoresis distribution. As a result, this paper proposes novel micro-channel geometry to improve electric field distribution, further more for a better dielectrophoresis separation. The improved micro-channel can generate stronger electric field strength and larger dielectrophoretic force.

关键词： Dielectrophoresis Finite element Continuous separation Multiple cell populations separation

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Particle focusing and separation through lab-on-chip device by dielectrophoresis

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Open Mechanical Engineering Journal 2011年第1期5卷 56-61页

作者： Liu, Deli Song, Baoyu Chen, Liguo Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

A Lab-On-Chip micro-device has been introduced for the focusing and separation of particles which exploits negative dielectrophoretic (nDEP) force. A 3D numerical computational model was presented to simulate the focusing and separation process. In particular, the model will solve for bioparticle movement and Joule heating. In the experimental study, the mixture of viable and nonviable yeast cells was used to demonstrate the focusing and separation effect of the designed microfluidic device. The fabricated chip performs a desired focusing result for the conditions with the electric fields frequency of 1MHz, the medium conductivity of 0.01S/m and the applied voltage V = 20Vpp. The mixture of viable and nonviable yeast cells were focused to the central plane of the micro-channel and then separated by non-equilibrium nDEP induced by the single part of the last pair of electrodes with conductivity σ = 0.01S/m, applied voltage V = 20Vpp and applied electric field frequency of 5Mhz, which validities the prediction of the proposed 3D model. This Lab-On-Chip device provides a simple and effective mean of particle focusing. © Liu et al.

关键词： Electrophoresis

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Numerical Study of a Dielectrophoresis Separation Device at Multiple Frequencies

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Procedia Engineering 2011年 15卷 341-345页

作者： Baoyu Song Deli Liu Lining Sun Liguo Chen Department of Mechanical Design Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

This paper presents a novel dielectrophoresis (DEP) chip for lateral separation of cells/particles at multiple frequencies. DEP force was enabled by interdigitated electrodes fabricated in the access channel. The non-uniform electric field distribution in the micro-channel is solved through finite element analysis. To improve the effectiveness of separation, the shape of insulators is optimized and other parameters such as the width of the electrodes are studied by introducing parameter K which can stand for the DEP force imposed on cells/particles. It is proved that planar electrodes can take place of 3D electrodes under certain condition. Furthermore functions realized by 3D electrodes can also be achieved by simple planar electrodes.

关键词： Lab-On-Chip Dielectrophoresis Particle focusing

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The application of real-time operating system QNX in the computer modeling and simulation

The application of real-time operating system QNX in the com...

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2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011

作者： Hou, Mingxin Ni, Fenglei Jin, Minghe Jiang, Li Liu, Hong Jin, Yue Hou, Mingbo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin 150080 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany College of Electromechanical Engineering China University of Petroleum China Department of Electronic Engineering University of York YO105NG United Kingdom

ISBN: (纸本)9781457705366

The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX20real-time system. Simulations in the QNX real-time system show that the HIT/DLR Hand II dexterous hand QNX model which based on the methods in this research, was able to offer an attractive performance during both real-time simulation and feedback operations. © 2011 IEEE.

关键词： Simulink

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Development of a novel robotic catheter system for endovascular minimally invasive surgery

Development of a novel robotic catheter system for endovascu...

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IEEE/ICME International Conference on Complex Medical Engineering, CME

作者： Yili Fu Anzhu Gao Hao Liu Kai Li Zhaoguang Liang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China First Clinical College Harbin Medical University Harbin Heilongjiang China

Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity. Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays; surgeons can be located in the control room away from the operating room in the master-slave way; catheterization can be performed successfully and safely to the target point with high maneuverability.

关键词： Surgery X-ray imaging Sensors Hospitals Robots Wheels

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