检索结果-内蒙古大学图书馆

9th IEEE International Conference on Nano/Molecular Medicine and Engineering, NANOMED 2015

作者： Zhong, Bowen Li, Zongwei Wang, Zhenhua Jin, Ziqi Sun, Lining Chen, Linsen Jiangsu Province Key Laboratory of Advanced Robot Technology Soochow University China SIP Postdoctor Station of SVG Digitoptics China

ISBN: (纸本)9781467396714

In cell injection, biological microscope is essential. It is commonly that intelligent microscope has many striking features, one of which is having a three-dimensional micro objective platform. The platform has the function of high precision positioning and automatic focus. In this paper, a novel single degree of freedom objective platform based on inertial stick-slip has been designed and fabricated, which works in millimeter movement range and nanoscale resolution. The dynamic model has been built to study the process of the inertial stick-slip and be helpful for designing the precision platform. In consideration of the nonlinear features of friction between the friction interfaces, the LuGre friction model has been mentioned in the dynamic model. The LuGre model describes several friction phenomenon, such as Strbeck, Hysteresis and so on. The 1D objective platform has resolution of 4 nm and is stroke of 20mm. The velocity reaches 3mm/s. Generally, the stage is driven by saw-tooth wave, while the self-defined waveform is discussed in this experiment. Finally, the optimized input signal is obtained. © 2015 IEEE.

关键词： Stick-slip

来源：评论

学校读者我要写书评

暂无评论

Robust resonance suppression control based on self resonance cancellation disturbance observer and application to humanoid robot

Robust resonance suppression control based on self resonance...

引用

International Conference on Mechatronics (ICM)

作者： Motonobu Aoki Hiroshi Fujimoto Yoichi Hori Taro Takahashi University of Tokyo Tokyo Japan Advanced Technology Engineering Department Partner Robot Division Toyota Motor Corporation Tokyo Japan

In this paper, a robust control method for two-inertia systems is proposed based on the self resonance cancellation control (SRC) and the self resonance cancellation disturbance observer (SRCDOB). The SRCDOB proposed in this paper improves the robustness of control system by rejecting disturbances and compensating for deviation of plant dynamics. The feedback controller for two-inertia systems is designed based on a nominalized plant model by SRCDOB and its effectiveness is verified through simulation study. In addition, the proposed robust resonance suppression control method is applied to a humanoid robot control system and experimental results demonstrate the effectiveness of the proposed robust resonance suppression control method.

关键词： Torque Control systems Load modeling Joints Robustness robots Transfer functions

来源：评论

学校读者我要写书评

暂无评论

Robust and precise eye detection based on locally selective projection

Robust and precise eye detection based on locally selective ...

引用

作者： Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

This paper proposes a robust and precise eye detection method based on a new projection algorithm called locally selective projection (LSP). Along each projection axis, LSP selects a pixel and uses a function calculated in the neighborhood of the pixel as response. The local selectivity of LSP makes it robust against rotation, illumination and occlusion. Moreover, the positions of selected pixels can be recorded, providing a 2D cue for image analysis. We apply LSP to eye detection. The vertical and horizontal LSPs are first used to give reliable eye candidates, then a SVM classifier is employed to verify the real eye pairs. The experiment result compared with an AdaBoost detector shows the robustness and accuracy of proposed method. © 2008 IEEE.

关键词： Pixels

来源：评论

学校读者我要写书评

暂无评论

Experiments of vision guided walking of humanoid robot, KHR-2

Experiments of vision guided walking of humanoid robot, KHR-...

引用

IEEE-RAS International Conference on Humanoid robots

作者： Jung-Yup Kim Ill-Woo Park Jungho Lee Jun-Ho Oh HUBO Laboratory Humanoid Robot Research Center Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon South Korea

ISBN: (纸本)0780393201

This paper introduces an integration of vision system and a visual guided walking of humanoid robot as a its application. Two CCD cameras are installed in a head which has 6 DOFs in total. Eyes and neck have the pan and tilt mechanism to move the view direction freely. All joints are driven by DC servo motors. We developed the motor controller to move all joint axes of the head. Each CCD camera transmits the NTSC formatted images to a frame grabber witch is installed on a main computer continuously. And then, the frame grabber captures the image frames in the frequency of 10 ~ 15 Hz. For a basic study, we construct the visual processing algorithm so that the robot can always gaze a red light marker. Besides, we establish the strategy of combining non real-time visual information and real-time walking pattern. Finally, vision guided walking algorithm which enables the robot to follow the red light marker on foot, is tested experimentally by using a humanoid robot, KHR-2

关键词： Legged locomotion Humanoid robots robot vision systems Charge coupled devices Charge-coupled image sensors Cameras Head Servomotors Machine vision Eyes

来源：评论

学校读者我要写书评

暂无评论

Semantic feature extraction for accurate eye corner detection

Semantic feature extraction for accurate eye corner detectio...

引用

作者： Xu, Cui Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

In this paper a novel eye corner (canthus) detection method is proposed. The method is based on sematic features which are extracted from the structure and appearance characteristics of canthus. The eyelids are first fitted to construct an angle model. Based on this model, one feature is proposed to characterize the appearance difference between inner and outer canthus regions, and another feature is proposed to emphasize the role of the canthus angle bisector region. The two features are fused in a logistic regression classifier to detect accurate canthus. The effectiveness and accuracy of the proposed method are demonstrated in experiments. © 2008 IEEE.

关键词： Semantics

来源：评论

学校读者我要写书评

暂无评论

Registration of inconsistent point cloud maps with large scale persistent features 15

Registration of inconsistent point cloud maps with large sca...

引用

15th International Conference on Informatics in Control, Automation and robotics, ICINCO 2018

作者： Thompson, Simon Yokozuka, Masahi Hashimoto, Naohisa Smart Mobility Research Group Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (纸本)9789897583216

Accurate point cloud registration techniques such as Iterative Closest Point matching have been developed to produce large scale 3D maps of the environment. Typically they iteratively register point clouds captured from adjacent sensor scans resulting in point clouds which are largely consistent. However, merging two seperate point cloud maps constructed at different times can lead to significant inconsistencies between the point clouds. Existing point based registration techniques can be sensitive to local minima caused by such inconsistencies. Feature based approaches can overcome local minimum but are typically less accurate, and can still suffer from correspondence errors. We introduce Large Scale Persistent Features (LSPFs), sub regions of point clouds that have orthogonal planar regions that are consistent and persist over a large spatial area. Each LSPF is used to calculate an individual transformation estimate using traditional registration techniques. Sampling Consensus is then used to select the best transform which is used for registration, avoiding local minima. LSPF registration is applied to simulated point cloud maps with known inconsistencies and shown to perform with more accuracy and lower computation time than other popular approaches. In addition, real world registration results are presented which demonstrate LSPF registration between MMS maps and low cost sensor maps captured 6 months apart. Copyright © 2018 by SCITEPRESS – Science and technology Publications, Lda. All rights reserved

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Research on Path Planning of Breast Ultrasound Examination robot *

Research on Path Planning of Breast Ultrasound Examination R...

引用

IEEE International Conference on robotics and Biomimetics

作者： Xinran Zhang Haiyan Du Yongde Zhang Guoqiang Gao Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Harbin China Foshan Baikang Robot Technology Co. Ltd. Foshan China

Breast cancer is the cancer with the highest incidence among women. The detection of breast cancer has received increasing attention. As an excellent medical image of the breast, ultrasound has the advantages of real-time execution, high efficiency and convenient operation, which is beneficial to the examination of breast cancer. Scanning path planning is an important part of ultrasound-guided breast examination. robot-assisted ultrasonic scanning can reduce the labor intensity of doctors and standardize the scanning process. Good path planning ensures the efficiency of ultrasonic testing and the accuracy of testing results. The scanning path planning of robot-assisted breast ultrasound examination based on binocular vision is studied. The binocular camera was used to collect photos of the breast model. The binocular camera is calibrated and corrected. The depth information is obtained by stereo image matching, and the breast model is obtained. The ultrasonic scanning path is acquired by model information and path extraction. The experimental results show that the robot can complete breast ultrasound scanning according to the predetermined path, and the accuracy and efficiency of the scanning operation are improved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

引用

Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

来源：评论

学校读者我要写书评

暂无评论

Structural design and simulation analysis of an orthodontic wire bending robot 20

Structural design and simulation analysis of an orthodontic ...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Han, Liu Jingang, Jiang Yanze, Li Yongde, Zhang Harbin University of Science and Technology Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education No.52 of Xuefu Road Heilongjiang Province Harbin China Foshan Baikang Robot Technology Co. Ltd Room B429 Block B Nanhai Industrial Think Tank City Phase I Taoyuan Road Guangdong Province Foshan City China

ISBN: (纸本)9798350320831

Based on the manual orthodontic wire bending motion, the type and number of degrees of freedom required for bending complex closed gap curves were analysed, and the resulting degrees of freedom were processed and calculated as the basic requirements for the structural design of the robot, while the current problem of the orthodontic wire bending robot not being able to continuously feed the wire was solved by using the counter-rotating collet feeding mechanism, which improved the operational efficiency of the robot. The kinematic model of the robot was established using the D-H method, and the kinematic analysis and simulation of the robot were carried out using MATLAB to verify the smoothness of the robot's motion. At the same time, ANSYS simulation software was used to verify the stiffness characteristics of the robot during operation, completing the verification of feasibility. © 2023 IEEE.

关键词： robots

来源：评论

学校读者我要写书评

暂无评论

RFID-enabled Target Tracking and Following with a Mobile robot Using Direction Finding Antennas

RFID-enabled Target Tracking and Following with a Mobile Rob...

引用

IEEE International Conference on Automation Science and Engineering (CASE)

作者： Myungsik Kim Nak Young Chong Hyo-Sung Ahn Wonpil Yu the School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Japan the Intelligent Robot Research Division ETRI Daejeon Korea

A stand-alone direction finding RFID reader is developed for mobile robot applications employing a dual-directional antenna. By adding search and localization capabilities to the current state of RFID technology, robots will be able to acquire and dock to a static target in a real environment without requiring a map or landmarks. Furthermore, we demonstrate RFID-enabled tracking and following of a target moving unpredictably with a mobile robot. The RFID reader keeps the robot aware of the direction of arrival (DOA) of the signal of interest toward which the dual-directional antenna faces the target transponder. The simulation results show that the proposed RFID system can track in real time the movement of the target transponder. To verify the effectiveness of the system in a real environment, we perform a variety of experiments in a hallway including target tracking and following with a commercial mobile robot.

关键词： Target tracking Mobile robots Directive antennas Mobile antennas Radiofrequency identification Transponders Receiving antennas Transmitting antennas Direction of arrival estimation robotics and automation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：