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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Changle Zhang, Chentao Yu, Chuan You Zhang, Leifeng Liu, Gangfeng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System No.2 YiKuang Street NanGang District Harbin HeiLongJiang China

ISBN: (纸本)9781665481090

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning. © 2022 IEEE.

关键词： Feedback

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Bidirectional Visual-Tactile Cross-Modal Generation Using Latent Feature Space Flow Model

SSRN

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SSRN 2023年

作者： Fang, Yu Zhang, Xuehe Xu, Wenqiang Liu, Gangfeng Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology No.2Yikuang StreetNangang District Heilongjiang Harbin150001 China Department of Computer Science and Engineering Shanghai Jiao Tong University No.800 Dongchuan Road Minhang District Shanghai Shanghai200240 China

Inspired by visual-tactile cross-modal bidirectional mapping of the human brain, this paper introduces a novel approach to bidirectional mapping between visual and tactile data, an area not fully explored in the predominantly unidirectional existing studies. First, we adopt separate Variational AutoEncoder (VAE) models for visual and tactile data. Furthermore, we introduce a conditional flow model built on the VAE latent feature space, enabling cross-modal bidirectional mapping between visual and tactile data using one model. The experimental results show that our method achieves excellent performance in terms of the similarity between the generated data and the ground truth (SSIM of visual data: 0.57, SSIM of tactile data: 0.80), the classification accuracy on generated data (visual data: 93.63\%, tactile data: 88.52\%), and the zero-shot classification accuracy between generated data and language (visual data: 45.14\%, tactile data: 45.57\%). To the best of our knowledge, the method proposed in this paper is the first one to utilize a single model to achieve bidirectional mapping between visual and tactile data. Our model and code will be made public after the acceptance of the paper. © 2023, The Authors. All rights reserved.

关键词： Mapping

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An investigation on laser-induced damage resistance of KDP optics repaired by different micro-milling strategies 20

An investigation on laser-induced damage resistance of KDP o...

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20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

作者： Liu, Qi Cheng, Jian Yang, Hao Zhao, Linjie Tan, Chao Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG7 2RD United Kingdom

ISBN: (纸本)9780995775176

Although micro-milling has been regarded as the most promising method to repair the micro-defects on KH2PO4 (KDP) optics surfaces, residual tool marks are inevitably generated on the repaired surfaces and would pose a direct impact on the laser-induced damage (LID) threshold of repaired KDP optics. In this work, a residual tool marks model was developed to characterize the repaired surface morphologies processed by different milling strategies (e.g. layer-milling and spiral-milling strategies). Then the predicted tool marks were utilized to built a light-filed intensity modulation model to reveal the relationship between the residual tool marks and its related optical performance. The practical of LID tests well verified the simulation results. It was revealed that the milling strategies indeed have a significant influence on the ultimate LID resistance of KDP optics after repair through impacting the generation of residual tool marks. The spiral-milling method with a smaller path interval can produce a laser-friendly repaired surfaces, which have a equivalent laser-induced resistance with the original fly cutitng surface, while the layer-milling method has a higher machining efficiency. Therefore, an optimized repair procedure, adopting layer-milling path as rough milling and spiral-milling as fine milling, was proposed for pratical engineering application in ICF facilities in the future. Copyright © Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Milling (machining)

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Long-term Dependency for 3D Reconstruction of Freehand Ultrasound Without External Tracker

arXiv

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arXiv 2023年

作者： Li, Qi Shen, Ziyi Li, Qian Barratt, Dean C. Dowrick, Thomas Clarkson, Matthew J. Vercauteren, Tom Hu, Yipeng The UCL Centre for Medical Image Computing The Wellcome/EPSRC Centre for Interventional and Surgical Sciences Department of Medical Physics and Biomedical Engineering University College London LondonWC1E 6BT United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Biomedical Engineering & Imaging Sciences King’s College London LondonWC2R 2LS United Kingdom

Objective: Reconstructing freehand ultrasound in 3D without any external tracker has been a longstanding challenge in ultrasound-assisted procedures. We aim to define new ways of parameterising long-term dependencies, and evaluate the performance. Methods: First, long-term dependency is encoded by transformation positions within a frame sequence. This is achieved by combining a sequence model with a multi-transformation prediction. Second, two dependency factors are proposed, anatomical image content and scanning protocol, for contributing towards accurate reconstruction. Each factor is quantified experimentally by reducing respective training variances. Results: 1) The added long-term dependency up to 400 frames at 20 frames per second (fps) indeed improved reconstruction, with an up to 82.4% lowered accumulated error, compared with the baseline performance. The improvement was found to be dependent on sequence length, transformation interval and scanning protocol and, unexpectedly, not on the use of recurrent networks with long-short term modules;2) Decreasing either anatomical or protocol variance in training led to poorer reconstruction accuracy. Interestingly, greater performance was gained from representative protocol patterns, than from representative anatomical features. Conclusion: The proposed algorithm uses hyperparameter tuning to effectively utilise long-term dependency. The proposed dependency factors are of practical significance in collecting diverse training data, regulating scanning protocols and developing efficient networks. Significance: The proposed new methodology with publicly available volunteer data and code1 for parametersing the long-term dependency, experimentally shown to be valid sources of performance improvement, which could potentially lead to better model development and practical optimisation of the reconstruction application. © 2023, CC BY.

关键词： Ultrasonics

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An Evolutionary Game based Secure Clustering Protocol with Fuzzy Trust Evaluation and Outlier Detection for Wireless Sensor Networks

arXiv

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arXiv 2022年

作者： Yang, Liu Lu, Yinzhi Yang, Simon X. Zhong, Yuanchang Guo, Tan Liang, Zhifang The School of Communication and Information Engineering Chongqing University of Posts and Telecommunications Chongqing China The Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph GuelphONN1G2W1 Canada The State Key Laboratory of Power Transmission Equipment & System Security and New Technology School of Electrical Engineering Chongqing University Chongqing400044 China

Trustworthy and reliable data delivery is a challenging task in Wireless Sensor Networks (WSNs) due to unique characteristics and constraints. To acquire secured data delivery and address the conflict between security and energy, in this paper we present an evolutionary game based secure clustering protocol with fuzzy trust evaluation and outlier detection for WSNs. Firstly, a fuzzy trust evaluation method is presented to transform the transmission evidences into trust values while effectively alleviating the trust uncertainty. And then, a K-Means based outlier detection scheme is proposed to further analyze plenty of trust values obtained via fuzzy trust evaluation or trust recommendation. It can discover the commonalities and differences among sensor nodes while improving the accuracy of outlier detection. Finally, we present an evolutionary game based secure clustering protocol to achieve a trade-off between security assurance and energy saving for sensor nodes when electing for the cluster heads. A sensor node which failed to be the cluster head can securely choose its own head by isolating the suspicious nodes. Simulation results verify that our secure clustering protocol can effectively defend the network against the attacks from internal selfish or compromised nodes. Correspondingly, the timely data transfer rate can be improved significantly. © 2022, CC BY.

关键词： Sensor nodes

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A disordered composite metamaterial beam optimized using NSGA-Ⅱ:a structure with an adjustable hybrid bandgap

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European Journal of Mechanics - A/Solids 2025年 114卷

作者： Wentao Wu Xiaobiao Shan Chenghui Sun Guangdong Sui Tianci Jiang Huan Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Science Park No.2 Yikuang Street Nangang District Harbin 150080 China

To address the limitations of conventional periodic metamaterials in regulation and optimization, this study introduces a novel staggered supercell beam configuration designed to enhance low-frequency vibration isolation. The proposed supercell beam is composed of single cells with varying staggered degrees and inductances. Initially, the transmission matrix method was employed to model both symmetrical and staggered structures, enabling the determination of their attenuation constant and transmission coefficient. Subsequently, the Non-dominated Sorting Genetic Algorithm II (NSGA-II) was implemented for multi-objective optimization to identify Pareto frontiers. Theoretical analysis demonstrated that the staggered beam exhibits a lower attenuation constant than its symmetrical counterpart and, critically, introduces a new coupling bandgap at low frequencies. Experimental transmission coefficient measurements confirmed that the optimized staggered beam achieves superior low-frequency vibration isolation performance compared to the symmetrical beam. This improvement is attributed to the successful application of NSGA-II, which effectively balances bandgap width and attenuation constant—a challenge previously unresolved in the field, as evidenced by studies that have explored the maximum limits of attenuation constants and the influence of parameters such as resistance, piezoelectric sheet thickness, and lattice constant length on bandgap characteristics. The findings of this study demonstrate that the proposed disordered staggered supercell beam configuration, optimized with NSGA-II, achieves superior bandgap attenuation, offering significant potential for advancements in low-frequency vibration isolation research.

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Design of a close-range radiotherapy particle implantation device

Design of a close-range radiotherapy particle implantation d...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Ban, Guang Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Zhang, Leifeng Fan, Yilun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 NO. 2 YiKuang Street HeiLongJiang Province China

ISBN: (纸本)9781728163215

The validity of brachytherapy has been proved in clinical tumor treatment, and robotic surgery system has been used in recent years to ensure surgical consistency. In our work, a new automatic radioactive particle implantation device with two degrees of freedom was proposed to apply in the brachytherapy robotic surgery system as an end effector. Furthermore, physical assembling and simple function verifying experiments were accomplished. This device can help simplify the operating steps during surgery, and improve the stability of the surgical system, and enhances the surgical efficiency. © 2019 IEEE.

关键词： Robotic surgery

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A new method for fiber bragg grating based needle shape sensing calibration

A new method for fiber bragg grating based needle shape sens...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Leifeng Li, Changle Zhang, Xuehe Liu, Gangfeng Liu, Yubin Zhao, Jie Ban, Guang Fan, Yilun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin 150080 NO. 2 YiKuang Street HeiLongJiang Province China

ISBN: (纸本)9781728163215

Accurate placement of the needle is critical in percutaneous surgery. Needle shape reconstruction technology based on fiber Bragg gratings (FBGs) sensor is considered to have the potential to achieve this goal. In this paper, we present a temperature-insensitive calibration model for calibrating needles with FBG sensors to accurately estimate its deformation. In addition, we have designed a device for simultaneously calibrating the loading direction and shape. Preliminary results indicate that the proposed model is theoretically insensitive to temperature, but in fact it can only be used within a certain temperature range. The resolution of the loading direction increases as the degree of bending increases, with a maximum error of 8.58°. Shape reconstruction error can be less than 1.5mm with small needle bending. This calibration method can meet clinical applications. © 2019 IEEE.

关键词： Fiber Bragg gratings

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Nonequilibrium Effects on Rapid Directional Solidification Microstructures During Additive Manufacturing: A Quantitative Phase Field Study

SSRN

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SSRN 2024年

作者： Li, Leiji Xiao, Fei Li, Zhu He, Shiyu Liu, Yang Cai, Xiaorong Hou, Ruihang Zhou, Ying Zuo, Shungui Zhang, Chongfeng Gao, Jinzhong Shen, Xiaopeng Zhu, Tianchi Gu, Yijia Jin, Xuejun State Key Lab of Metal Matrix Composite School of Materials Science and Engineering Shanghai Jiao Tong University 800 Dong Chuan Road Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China National Key Laboratory of Aerospace Mechanism Aerospace System Engineering Shanghai 3805 Jin Du Road Shanghai201108 China Department of Materials Science and Engineering Missouri University of Science and Technology RollaMO65409 United States National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy School of Materials Science and Engineering Shanghai Jiao Tong University 800 Dong Chuan Road Shanghai200240 China Department of Materials Science and Engineering Graduate School of Engineering Osaka University 2-1 Yamada-oka Osaka Suita565-0871 Japan Shanghai Key Laboratory of Materials Laser Processing and Modification China

Fusion-based metal additive manufacturing (AM) is a technology that builds objects layer by layer, with rapid solidification referring to the quick transition of material from liquid to solid. During this process, solute trapping, a nonequilibrium effect characterized by velocity-dependent partition coefficient, significantly influences microstructure kinetics, morphology, and phase formation. This study utilizes the latest quantitative phase field (PF) model to systematically investigate the solute trapping, solute drag, and their effects on pattern formation during rapid solidification at velocities relevant to AM, in both one and two dimensions. Under different temperature gradients and pulling velocities, we observed that the growth mode transits from planar to cellular to dendritic, then back to cellular, and finally to planar, which is consistent with classic solidification theory. A solidification microstructure selection map is constructed based on PF simulations. Furthermore, we compared primary dendritic/cell spacing calculated by the PF model with theoretical models. The simulated morphologies and arm spacing showed good agreement with experimental observations for Al-4Si and Ti-20Nb alloys during rapid solidification. These results demonstrate the potential of the PF model for predicting and controlling microstructure formation under rapid solidification conditions in the melt pool of AM processes. © 2024, The Authors. All rights reserved.

关键词： Morphology

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An inertial navigation pre-integration algorithm based on multi-sensor fusion for indoor mobile robot positioning 2019

An inertial navigation pre-integration algorithm based on mu...

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2nd International Conference on Service robotics Technologies, ICSRT 2019

作者： Kong, Minxiu Niu, Caoyuan State Key Laboratory of Robotics and System No. 2 Xidazhi Street Nangang District Harbin Heilongjiang China Harbin Institute of Technology No. 2 Xidazhi Street Nangang District Harbin Heilongjiang China

ISBN: (纸本)9781450362467

Accurate position estimation is a key technology for mobile robots to reflect intelligence. It has very important research value and significance. In order to solve the problems of large error, low precision and error accumulation over time of the current algorithm, this paper proposes an inertial navigation pre-integration algorithm integrating multiple sensors, and estimates the initial visual scale s with the loose-coupling algorithm. Aiming at the low positioning accuracy of the loose-coupling algorithm, a tight coupling algorithm based on multi-sensor fusion is proposed, and the system model and observation model are delivered. Finally, the establishment of the Create2 experimental platform and the corresponding software design, and then the positioning and contrast experiments on different material surfaces, the comparison of positioning accuracy in indoor small scenes and large scenes, and the optimization of VISLAM system for tight coupling algorithms based on multi-sensor fusion The comparison experiment is carried out to verify the robustness and feasibility of the algorithm, and to test the positioning accuracy of the actual application scenario of the mobile robot. © 2019 Association for Computing Machinery.

关键词： Mobile robots

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