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International Conference on Electrical and Control Engineering, ICECE 2010

作者： Lin, Jiang Baiyan, Liu Xinyuan, Chen Hui, Zhao Jie, Zhao Jihong, Yan Key Laboratory of Metallurgical Equipment and its Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9780769540313

The obstacle avoidance fuzzy navigation strategy based on ultrasonic absolute position was proposed to improve the navigation efficiency and precision of the omni-directional mobile manipulator (ODMM). Comparing with the conventional navigation strategies, the superiority of this strategy is that it can momently get the accuracy positioning of robot and it can adjust posture and speed. The method of fusion redundancy ultrasonic information (FRUI) can improve the absolute positioning accuracy of ODMM. Absolute position based on fusion redundancy ultrasonic information(FRUI) and fuzzy navigation based on driving experience were all applied to the ODMM navigation. This strategies include the move-to-goal behavior based on absolute position and obstacle avoidance fuzzy navigation based on absolute positioning. Finally the experiment had been performed, the experimental result proved that the obstacle avoidance fuzzy navigation algorithm based on ultrasonic absolute positioning was effective and the navigation efficiency and precision of ODMM were greatly improved. © 2010 IEEE.

关键词： Navigation

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Local shape patch based object detection

Local shape patch based object detection

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Du, Zhijiang Chen, Guodong Sun, Lining Ji, Junhong Xie, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 637553 Singapore

ISBN: (纸本)9781424457021

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method. ©2010 IEEE.

关键词： Object detection

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Influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine

Influence of axial length ratio of stator segment on perform...

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14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Mei, Zhao Zou, Ji-Bin Jiang, Xin-Tong Fu, Xing-He Sadarangani, Chandur State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Dept. Electrical Machines and Power Electronics KTH Teknikringen 33 10044 Stockholm Sweden

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis. © 2010 IEEE.

关键词： Finite element method

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An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

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High technology Letters 2010年第3期16卷 306-310页

作者： Sun, Yinshan Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom (2-DOF) robot wrist (not the mechanically constrained remote center of motion (RCM) mechanism) and a 3-DOF robot arm, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displacement by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 mm in the process of needle orientation. © by High technology Letters Press.

关键词： Needles

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An in vitro investigation of image-guided steerable catheter navigation

An in vitro investigation of image-guided steerable catheter...

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作者： Liu, H. Fu, Y.-L. Zhou, Y.-Y. Li, H.-X. Liang, Z.-G. Wang, S.-G. State Key Laboratory of Robotics and System Harbin Institute of Technology Bio-X Centre Science Park 2 Yikuang Street Nangang District Harbin Heilongjiang 150080 China First Clinical College Harbin Medical University Harbin China

The objective of this study is to provide catheterization with a three-dimensional (3D) guiding image and reduce the collision probability between the catheter tip and vascular wall. A bidirectional steerable catheter was integrated with two magnetic position-tracking sensors on both sides of its bending segment. The tracking information was displayed on the guiding image, which helped the surgeons to determine the relative position between the catheter tip and surrounding vessels. The navigation path was generated on the basis of the vascular skeleton. Moreover, along the path, a series of guiding circular planes were set as the guidance for the catheter. Three operations (bending, advancing, and twisting) were jointly conducted to get the catheter through these guiding planes in turn and eventually into the target vessel. The effectiveness of the proposed navigation method was verified by experiments implemented in an aorta vascular phantom. The navigation system has a mean error of 0.19mm, a root mean square of 0.49?mm, and a standard deviation of 0.46?mm.

关键词： Catheters

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Configuration design method for in-pipe robot locomotion mechanism

Configuration design method for in-pipe robot locomotion mec...

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International Conference on Digital Manufacturing and Automation

作者： Chen, Jun Chen, Tao Deng, Zong-Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769542867

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design. © 2010 IEEE.

关键词： Topology

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Development of a robot system assisting artificial cervical disc replacement surgery

Development of a robot system assisting artificial cervical ...

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IEEE International Conference on robotics and Biomimetics

作者： Heqiang Tian Dongmei Wu Zhijiang Du Junlin Ma Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin 150080 China

ISBN: (纸本)9781424493197

The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a passive serial body assisting the artificial cervical disc replacement surgery is proposed. Then, the workspace analysis and control system design of the parallel robot are presented. Finally, the surgical navigation technologies such as surgical planning, surgical navigation and positioning, and the grinding trajectory planning technologies involved in the robot system assisting the cervical artificial disc replacement surgery are described. It can be seen that the robot-assisted cervical artificial disc replacement surgery has opened up a new way for the cervical disease treatment.

关键词： Surgery Robot kinematics Planning Brushless motors Optical imaging Biomedical optical imaging

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Teleoperation system of Internet-Based Multi-Operator Multi-Mobile-Manipulator

Teleoperation System of Internet-Based Multi-Operator Multi-...

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International Conference on Electrical and Control Engineering (ICECE)

作者： Liang Ma Jihong Yan Jie Zhao Zhifeng Chen Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc.. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control the remote robots via Internet. The 9-DOF mobile-manipulators which combine the mobility of the omnidirectional mobile plat and the manipulability of the manipulator are located in the slave side. Modules of ultrasonic location and ultrasonic/infrared distance measurement are arranged on the mobile-manipulators, and six-axis force sensors are fixed on the wrist of mobile-manipulators. Six video cameras are installed in slave side to provide the operators multi-video image. A network server collects the information of the sensors by WLAN and sends them to operators through net. With the aid of real-time multi-video image and feedbacks, operators could control the robots to complete the task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operators control the robots to complete the role of delivering and transporting via Internet, and achieve loose coordination, mobile tight coordination and operated tight coordination teleoperation.

关键词： Robot kinematics Internet Robot sensing systems Fuels Manipulators Conferences

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Dynamics and motion control of a two pendulums driven spherical robot

Dynamics and motion control of a two pendulums driven spheri...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bo Zhao Mantian Li Haitao Yu Haiyan Hu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot, which is moving simultaneously actuated by both eccentric moment and inertial moment generated by the two pendulums. Meanwhile the mobility is enhanced when the robot behaves dynamically. The emphasis is placed on the linear motion and turning in place motion control. The dynamic model of linear motion is formulated on the basis of Lagrange equation, and a smooth trajectory planning method is proposed for linear motion. A feedback controller is constructed to ensure the accurate trajectory planning. Turning in place motion is an indispensable element of omni directional locomotion which can enhance the mobility of spherical robots. The dynamic model of turning in place motion is derived on the theory of moment of momentum, and a stick-slip principle is analyzed. The two motion control methods are validated by both simulations and prototype experiments.

关键词： Robots Turning Dynamics Trajectory Planning Mathematical model

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Calibration of a 6-DOF parallel micromanipulator for nanomanipulation

Calibration of a 6-DOF parallel micromanipulator for nanoman...

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IEEE International Nanoelectronics Conference (INEC)

作者： Lefeng Wang Weibin Rong Mao Feng Taochou Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424435432;9781424435449

Nanomanipulation is a key enabling technology for many nanometer scale applications. To realize the full 6-DOF nanomanipulation, parallel micromanipulators have manys advantages comparing to the serial ones. Due to the machining and assembly errors, kinematic calibration is necessary to improve the accuracy further. For the 3-limb 6-dof manipulator in this paper, the error model of it was first developed based on the inverse solutions. The scheme for detecting the positions and poses of the end-effector was also determined. The least square method was used to identify the main parameters of the parallel manipulator, and the identified dimensions were used to control the manipulator. The experiments results verify the effectiveness of the calibration processes.

关键词： Calibration Micromanipulators Equations Capacitance Capacitive sensors Machining Assembly Kinematics Least squares methods Displacement measurement

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