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2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

作者： Xiaolong, Yin Bin, Li Xinhua, Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology China Fac. of Natl. Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728103761

A 5 degree of freedom parallel mechanism with 6 branched redundant actuators is proposed. The mechanism is composed of 4 -SPS and 2-RPS kinematic branches. The mechanism can achieve three rotational and two translational motion. The performance of the forward and inverse kinematics, singularity and workspace, is analyzed, firstly, using the vector algebra method and Newton iteration method, the forward and inverse kinematics model were obtained from numerical solution and analytic solution;on this basis, get the Jacobian matrix of mechanism, and on the basis of the three kinds of performance parameters of matrix the singularity of the mechanism was analyzed;finally with the help of Monte Carlo method, obtaining the workspace of the mechanism. The related kinematic analysis will lay a theoretical foundation for the future study of the dynamics. © 2018 IEEE.

关键词： Mechanisms

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Electro-pneumatic time-delay control of high amplitude vibrations at asymptotic stability of pneumatic table due to mechanical valve operations

Electro-pneumatic time-delay control of high amplitude vibra...

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40th International Congress and Exposition on Noise control engineering 2011, INTER-NOISE 2011

作者： Sun, Jong-Oh Oh, Tae-Seok Kim, Kwang-Joon Gil, Hyeong Gyeun Department of Mechanical Engineering Center for Noise and Vibration Control Korea Advanced Institute of Science and Technology Science Town Daejeon 305-701 Korea Republic of Daeil System 475-3 Maengri Wonsam-myun Yongin Gyunggido Korea Republic of

ISBN: (纸本)9781618392800

A typical pneumatic table for vibration isolation is equipped with mechanical valves to level the table as well as to compensate large pressure change in the chamber. Once the mechanical valves are adjusted at the initial stage of installations of the table with equipments on it, it is expected that the table be stable. Sometimes, however, there may occur high amplitude vibrations at the asymptotic stability of the pneumatic system due to unexpected large disturbances in the equipments or other external excitations. Recently active control of pneumatic tables using electro-pneumatic valves has been realized very successfully for suppression of vibrations even in the very low frequency range due to excitations from either ground or equipments. Although the main purpose of this active technique is to control vibrations at low amplitudes smaller than tens of μm, it can also be applied to control vibrations at high amplitudes larger than a few mm because the electro-pneumatic valves can easily provide large dynamic pressure into the air chamber. In this paper, high amplitude vibrations at the asymptotic stability of a pneumatic table with mechanical valves will be illustrated. Then, suppressions of those by 3 degree of freedom active time delay control using the electro-pneumatic valves will be presented. Successful results of the method will be discussed together with feasible applications in practice.

关键词： Time delay

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Surgical Gesture Recognition in Open Surgery Based on 3DCNN and SlowFast 7

Surgical Gesture Recognition in Open Surgery Based on 3DCNN ...

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7th IEEE Information Technology, Networking, Electronic and Automation control Conference, ITNEC 2024

作者： Men, Yutao Luo, Jian Zhao, Zixian Wu, Hang Luo, Feng Zhang, Guang Yu, Ming Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Tianjin300384 China Systems Engineering Institute Academy of Military Sciences People's Liberation Army Tianjin300161 China

ISBN: (纸本)9798350370782

In the field of computer-aided medicine, automated surgical gesture recognition is an important research direction. Its main applications include automated skills assessment, intraoperative guidance, and education and training systems. Current research has focused on robotic surgery, and there is less research on surgical gestures for open surgery. Therefore, in this study, a new simulated open surgery dataset was developed, and a series of surgical gestures for open surgery were defined for closure the abdomen surgery with the cooperation of professional doctors. In addition, this paper uses the classical algorithm 3DCNN and SlowFast model in the field of action recognition to perform offline recognition of surgical gestures for open surgery on the dataset. 3DCNN uses R3D and R(2+1)D models. The experimental results show that on the self-built open surgical dataset, the R3D model has the best surgical gesture recognition results, with an accuracy rate of 90.4%, a precision rate of 90.5%, and a recall rate of 90.0%. © 2024 IEEE.

关键词： Gesture recognition

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Method of Rut Detection Using Lasers and In-Vehicle Stereo Camera

Method of Rut Detection Using Lasers and In-Vehicle Stereo C...

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International Conference on Intelligent Informatics and Biomedical Sciences

作者： Toshiki Kage Kousuke Matsushima Advanced Engineering School Mechanical and Electrical Systems Engineering Advanced Course National Institute of Technology Kurume College Department of Control and Information Systems Engineering National Institute of Technology Kurume College

ISBN: (纸本)9781479985630

This paper reports a new method of rut detection using lasers and in-vehicle stereo camera. In this method, we detects ruts by performing various image processings for the images included laser lines that is irradiated to the road surface. The algoristhm presented have ensures that it is to reduce the processing time and cost in comparison with convensional methods.

关键词： Rut detection Computer vision Inspection vehicle

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Fabrication of Diamond Nanopit arrays by Room-temperature Curing Nanoimprint Lithography Using Glass-like Carbon Molds

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MRS Online Proceedings Library 2011年第1期1395卷 27-32页

作者： Shuji Kiyohara Chigaya Ito Ippei Ishikawa Hirofumi Takikawa Yoshio Taguchi Yoshinari Sugiyama Yukiko Omata Yuichi Kurashima Electric and Control System Engineering Course Faculty of Advanced Engineering Maizuru National College of Technology Maizuru Kyoto Japan Department of Electrical and Electronic Information Engineering Toyohashi University of Technology Toyohashi Aichi Japan Application and Technical Section ELIONIX INC. Hachioji Tokyo Japan Department of Mechanical System Engineering University of Yamanashi Kofu Yamanashi Japan

We have proposed the use of glass-like carbon (GC), as mold material because the 27-maximum etching selectivity of polysiloxane film against GC, which was approximately six times larger than that of polysiloxane film against chemical vapor deposited (CVD) diamond film. We have investigated the fabrication of diamond nanopit arrays by room-temperature curing nanoimprint lithography (RTC-NIL) using GC mold, as applications to the emitter and the micro-gear. The polysiloxane has in the state of sticky liquid at room-temperature and negative-exposure characteristic. Therefore, the polysiloxane was used as RTC-imprint resist material, and also used as electron beam (EB) resist (oxide mask) material in EB lithography. We have fabricated the cylindrical GC nanodot mold with 500 nm-diameter, 600 nm-height and 2 µm-pitch. We carried out RTC-NIL using GC mold under the following optimum conditions: time from spin-coating to imprint of 1 min, imprinting pressure of 0.5 MPa and imprinting time of 5 min. Then, we have processed the diamond film with an electron cyclotron resonance (ECR) oxygen ion shower. We have fabricated diamond nanopit array with 250 nm-depth and 500 nm-diameter. The diameter of diamond nanopit pattern was in good agreement with that of GC mold. Moreover, the depth of the diamond nanopit patterns fabricated by RTC-NIL using cylindrical GC mold was three times larger than that using conical diamond mold.

关键词： diamond nanostructure ion-beam processing

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Application and development of digital image correlation method in biomechanics

Application and development of digital image correlation met...

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第五届国际仿生工程学术大会(ICBE2016)

作者： Qiu Lulu Zhang Chunqiu School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System School of Mechanical EngineeringTianjin University of Technology

With the rapid development of computer technology and electronic equipment, as well as the corresponding improvement of algorithm, digital image correlation technology has attracted the attention of all walks of life. The digital image correlation method possesses a series of advantages like simple optical path, high precision and fast processing speed, which meets the demand of unique biomechanical properties and biological organization environment. This paper analyses the development process through the research of digital image correlation method and summarizes its application in biomechanical *** study also presents the method of digital image using in biomechanics aspects, showing the research progress and development trends about digital image correlation method in biomechanics. Besides this paper suggests some difficult problem existing to be solved and puts forward the corresponding solutions.

关键词： Digital image correlation method biomechanic speckle

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Study on Vibration and Crack Propagation control of Cracked Asymmetric Rotor Based on Three-Dimensional Finite Element Model

Study on Vibration and Crack Propagation Control of Cracked ...

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IEEE International Conference on Mechatronics and Automation

作者： Rong Hu Jun Liu Jianen Chen Xiaofeng Wang Weimin Ge School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System Tianjin China

In order to solve the vibration problems of a cracked asymmetric rotor, the three-dimensional finite element model of the rotor is established combined with a nonlinear contact approach. The free interface modal synthesis method is applied to shorten the computation time by reducing the order of the model. The vibration characteristics of the asymmetric rotor and the cracked asymmetric rotor in different crack locations are analyzed by the simulation. The results of numerical simulation show the appearance of crack will affect the resonance frequency and the range of unstable area on the major critical speed. At the same time, the active control of the rotor is realized by the electromagnetic actuator controlled by neural network PID. Secondly, based on the theory of rotor dynamics, the effects of rotational speed and unbalance on the breathing behavior of the cracked rotor are discussed. In this paper, it proposes a novel method delaying the crack extension effectively. In the process of operation, the electromagnetic actuator (EMA) can effectively control the vibration and can delay the crack propagation.

关键词： Rotors Finite element analysis Mathematical model Solid modeling Computational modeling Vibrations Analytical models

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Detection of Weld Defects Based on Incremental Two-Dimensional Principal Component Analysis

Detection of Weld Defects Based on Incremental Two-Dimension...

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IEEE International Conference on Mechatronics and Automation

作者： Yaohua Shen Weimin Ge Xiaofeng Wang School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechanical System Tianjin China

Aiming at the requirements of the real-time detection of weld defects in the industry, the candid covariance-free incremental PCA (CCIPCA) algorithm was introduced into the Two-Dimensional Principal Component Analysis (2PCA) algorithm, therefore an incremental 2DPCA algorithm (I2DPCA) is proposed. Firstly, the images captured by camera are preprocessed to improve the quality of the images because the captured images might be affected in the process of image acquisition. Then the 12DPCA algorithm is used to achieve feature extraction, and the dimension of the images is reduced. Finally, the recognition of weld defects is implemented using the k-nearest neighbor algorithm (KNN). Compared with the methods of traditional recognition by extracting the sizes of several geometric defects, the proposed algorithm has the advantage of the small memory spaces, the high recognition rate and the strong real-time recognition. The experimental results show that the proposed algorithm has higher recognition rate and is more practical than the 2DPCA, and the recognition rate reaches 94%, which can meet the requirements of the real-time detection.

关键词： Welding Feature extraction Covariance matrices Principal component analysis Histograms Image recognition Low pass filters

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Optimization of Rotation-Invariant Feature Detection Method for Pedestrian Recognition

Optimization of Rotation-Invariant Feature Detection Method ...

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International Conference on Intelligent Informatics and Biomedical Sciences

作者： Toshiki Yahiro Kousuke Matsushima Advanced Engineering School Mechanical and Electrical Systems Engineering Advanced Course National Institute of Technology Kurume Collage Department of Control and Information Systems Engineering National Institute of Technology Kurume Collage

ISBN: (纸本)9781479985630

In the technology of advanced Safety Vehicle (ASV), it is important elements to detect pedestrians. There is a technique which used image features and a classifier for pedestrian detection. However, pedestrians have pose variations, such as a rotation. That's why we cannot always get the same features. In order to solve this problem, we can use a way which used the rotation-invariant HOG, but this method needs very high costs because it's not optimized for pedestrian detection. Therefore, we improved calculating method of the rotation-invariant HOG for pedestrian detection and compared this proposed method with the conventional method. As a result, recognition rate was turned from 53.75% to 71.7%.

关键词： Pedestrian detection ASV HOG

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A design of bilateral servo system with self-tuning function

A design of bilateral servo system with self-tuning function

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International Conference on advanced Mechatronic systems (ICAMechS)

作者： Hirofumi Ohtsuka Tomoaki Nakamura Dept. of Control and Information System Engineering Kumamoto National College of Technology Kumamoto Japan Kumamoto National College of Technology Advanced Course of Electronics and Information System Engineering Kumamoto Japan

Manual micromanipulation requires for operators to have enough experience and outstanding skill. A bilateral servo system attempts to convert difficult tasks so as to be felt easier for skilled operators. One of such a bilateral servo system, which reduces the displacement and expands the force, has been proposed by Kikuchi and Shiraishi[1]. However, concerning to the offset between a master manipulator's stiffness and a slave manipulator's one, its adverse effects of the operation stability becomes remarkable for the change of operator's dynamics. In an actual use, such offset may cause a heavy damage of the manipulated object by the operation. In this study, we propose a self-tuning mechanism which can eliminate such offset problem. And we have confirmed the effectiveness of the proposed method by numerical simulation.

关键词： Manipulators Force Numerical simulation Servomotors Steady-state

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