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Proceedings of '85 International Conference on advanced robotics.

作者： Sakano, N. Advanced Robot Technology Research Assoc Advanced Robot Technology Research Assoc

As themes of research and development, technologies particular to disaster prevention robots, namely, durability to ensure full performance and functions under disastrous environment, detection capabilities to grasp the surrounding situations and work functions capable of rapid and efficient action, are considered. Each of these elemental technologies themselves are important as they may be utilized independently as disaster preventing device. Nevertheless, it is further required to establish total system clearly in which these elements can function in combination. In this study, elemental technologies required for development of the disaster prevention robot will be described.

关键词： robotS, INDUSTRIAL

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Two-Stage Hand-Eye Calibration based on Variance Minimization Principle

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Ding, Tao Tian, Dazhuang Wu, Hao Zhu, Dahu Li, Wenlog Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components School of Automotive Engineering Wuhan430070 China Wuhan University of Technology Hubei Digital Manufacturing Key Laboratory School of Mechanical and Electronic Engineering Wuhan430070 China Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components Hubei Provincial Engineering Research Center of Robot and Intelligent Manufacturing Wuhan430070 China Huazhong University of Science and Technology State Key Laboratory of Intelligent Manufacturing Equipment and Technology Wuhan430074 China

Hand-eye calibration in industrial scenarios greatly determines the efficiency and effectiveness of 3D vision-guided robotic tasks. Most of the existing hand-eye calibration methods, however, rely on collecting large-scale point cloud samples to guarantee high measurement accuracy, which is time-consuming and particularly influenced by measurement defects such as local missing, noise, and uneven density. To overcome this challenging problem, we present a novel two-stage hand-eye calibration method based on the variance minimization principle. In the first stage, a robust function weighted variance minimization (RFWVM) registration algorithm is proposed for fine registration of defective point clouds, aiming at solving the coarse hand-eye calibration matrix with few-shot point clouds. In the second stage, an objective function of the calibration error correction algorithm is established via the point-to-plane distance variance minimization, which is intended to suppress the influence of measurement defects. Through these two stages, the globally optimal hand-eye matrix is solved by iteratively correcting the coarse hand-eye calibration matrix. A series of experiments validate the universality, accuracy, and robustness of the proposed method. © 1963-2012 IEEE.

关键词： Error correction

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A Flow-Induced Vibration Energy Harvester Based on Bioinspired Shell Surface Bluff Body

SSRN

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SSRN 2025年

作者： Yuan, Yikai Wang, Hai Yang, Chunlai Li, Bao Zhu, Wenbo Gui, Jinsong School of Mechanical Engineering Anhui Polytechnic University Anhui Wuhu China Anhui Key Laboratory of Advanced Numerical Control & Servo Technology Anhui Wuhu China Anhui Ruilong Robot Technology Co. Ltd. China

The bluff body is integral to a flow-induced vibration (FIV) energy harvesting system, with its aerodynamic characteristics tunable via a biomimetic metasurface. This paper proposes a FIV energy harvester utilizing a bioinspired metasurface to enhance energy harvesting performance. The mathematical model of the proposed FIV energy harvester is developed. Lift and drag forces are determined through numerical simulation using COMSOL. Prototypes of the FIV energy harvester with bioinspired metasurfaces are fabricated and validated in a wind tunnel experimental system. Numerical and experimental results demonstrate that the performance of FIV energy harvesters can be either suppressed or enhanced by employing a bluff body with a bioinspired metasurface. The operation bandwidth of the FIV energy harvester with a straight striped metasurface bluff body increased by nearly 277% compared to the traditional smooth body, providing a practical method for harnessing wind energy across diverse natural environments and adapting effectively to fluctuating wind conditions. © 2025, The Authors. All rights reserved.

关键词： Drag

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Ultralow-Frequency Drifting Compensation for Microthrust Measurement Using Autoencoder Prediction-Based Auto-Zero Mechanism

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Xu, Jiawen Dai, Zhuoping Chen, Xingyu Zhang, Hong Long, Jianfei Xu, Luxiang Guo, Ning Zhao, Liye Yan, Ruqiang Southeast University Jiangsu Key Laboratory of Robot Sensor and Control Laboratory School of Instrument Science and Engineering Nanjing210096 China Southeast University Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology School of Instrument Science and Engineering Nanjing210096 China Lanzhou Institute of Physics Science and Technology on Vacuum Technology and Physics Laboratory Lanzhou730010 China University of Chinese Academy of Sciences Institute for Advanced Study Hangzhou310024 China Xi’an Jiaotong University School of Mechanical Engineering Shaanxi Xi’an710049 China

Microthrust measurement technology plays a pivotal role in detecting space gravitational waves. However, stochastic drifting in the ultralow-frequency range (0.1 mHz) poses a significant challenge to the precision of microthrust measurements. To mitigate the low-frequency drifting during microthrust measurement, this article introduces a multiple-scale drifting compensation method for ultralow-frequency microthrust measurement based on autoencoder (AE) prediction. The multiple-scale drifting compensating consists of a large-scale drifting detrending and a microscale prediction and compensation. A short-time microscale drift skeleton of the raw signal is extracted using a bidirectional Butterworth low-pass filter. An unsymmetrical AE model is employed to predict the following time sequence of the low-frequency drift skeleton. Then, the predicted skeleton sequence is removed from the raw signal for drifting compensation. Concurrently, zero-load data are utilized for experimental testing to select the optimal experimental method, followed by validation experiments using actual measurement data to demonstrate the method’s effectiveness. It is experimentally validated that the proposed method can successfully reduce the noise level of the measured microthrust data to 0.43 µN/Hz1/2 at a frequency of 7.94 × 10−5 Hz in the laboratory without vibration suspension and temperature control. The proposed method can reduce the magnitude of drifting by approximately three orders at 0.1 mHz, confirming its effectiveness in compensating low-frequency drifting. © 1963-2012 IEEE.

关键词： Frequency measurement Particle measurements Atmospheric measurements Extraterrestrial measurements Temperature measurement Skeleton Filtering Force Noise Autoencoders

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A prostate seed implantation robot system based on human-computer interactions: Augmented reality and voice control

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Mathematical Biosciences and Engineering 2024年第5期21卷 5947-5971页

作者： Zhang, Xinran Zhang, Yongde Yang, Jianzhi Du, Haiyan Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Harbin150080 China Foshan Baikang Robot Technology Co. Ltd. Foshan528237 China

The technology of robot-assisted prostate seed implantation has developed rapidly. However, during the process, there are some problems to be solved, such as non-intuitive visualization effects and complicated robot control. To improve the intelligence and visualization of the operation process, a voice control technology of prostate seed implantation robot in augmented reality environment was proposed. Initially, the MRI image of the prostate was denoised and segmented. The three-dimensional model of prostate and its surrounding tissues was reconstructed by surface rendering technology. Combined with holographic application program, the augmented reality system of prostate seed implantation was built. An improved singular value decomposition three-dimensional registration algorithm based on iterative closest point was proposed, and the results of three-dimensional registration experiments verified that the algorithm could effectively improve the three-dimensional registration accuracy. A fusion algorithm based on spectral subtraction and BP neural network was proposed. The experimental results showed that the average delay of the fusion algorithm was 1.314 s, and the overall response time of the integrated system was 1.5 s. The fusion algorithm could effectively improve the reliability of the voice control system, and the integrated system could meet the responsiveness requirements of prostate seed implantation. © 2024 the Author(s).

关键词： Iterative methods

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Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish robot Propelled by Piezoelectric Actuators

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Journal of Bionic Engineering 2007年第3期4卷 151-158页

作者： Seok Heo Tedy Wiguna Hoon Cheol Park Nam Seo Goo Artificial Muscle Research Center Konkuk UniversitySeoul 143-701Korea Department of Advanced Technology Fusion Konkuk UniversitySeoul 143-701Korea Department of Advanced Technology Fusion Artificial Muscle Research Center and Smart Robot CenterKonkuk UniversitySeoul 143-701Korea

This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.

关键词： LIPCA biomimetic fish robot caudal fro Strouhal number Froude number Reynolds number

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Application of Parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair robot

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International Journal of Automation and computing 2013年第5期10卷 447-454页

作者： Ling-Feng Sang Hong-Bo Wang Dian-Fan Zhang Zhen-Hua Tian Fu-Hai Deng De-Lei Fang Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Science and Technology Research Institute Yanshan University

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is *** proposed robot could be used as biped and quadruped walking chair *** the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS＋UP（U,P and S are universal joint,the prismatic pair,and sphere joint,respectively） parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,*** the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism *** motion characteristics of the 2-UPS＋UP parallel mechanism which is the key part of the walking chair robot are ***,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is ***,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to *** study provides a theoretical foundation for the prototype development.

关键词： Human-carrying walking chair robot parallel leg mechanism degree of freedom varistructure workspace kinematics

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Operation and Force Analysis of the Guide Wire in a Minimally Invasive Vascular Interventional Surgery robot System

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Chinese Journal of Mechanical Engineering 2015年第2期28卷 249-257页

作者： YANG Xue WANG Hongbo SUN Li YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University School of Mechanical Engineering University of Jinan Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Faculty of Science and Technology Bournemouth University

To develop a robot system for minimally invasive surgery is significant,however the existing minimally invasive surgery robots are not applicable in practical operations,due to their limited functioning and weaker perception.A novel wire feeder is proposed for minimally invasive vascular interventional *** is used for assisting surgeons in delivering a guide wire,balloon and stenting into a specific lesion *** contrasting those existing wire feeders,the motion methods for delivering and rotating the guide wire in blood vessel are described,and their mechanical realization is presented.A new resistant force detecting method is given in *** change of the resistance force can help the operator feel the block or embolism existing in front of the guide *** driving torque for rotating the guide wire is developed at different *** the CT reconstruction image and extracted vessel paths,the path equation of the blood vessel is *** the shapes of the guide wire outside the blood vessel,the whole bending equation of the guide wire is *** is a risk criterion in the delivering *** process can make operations safer and man-machine interaction more reliable.A novel surgery robot for feeding guide wire is designed,and a risk criterion for the system is given.

关键词： minimally invasive wire feeder force analysis moment of inertia risk criterion

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Rethinking femoral neck anteversion assessment: a novel automated 3D CT method compared to traditional manual techniques

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BMC Musculoskeletal Disorders 2025年第1期26卷 1-10页

作者： Xiao, Honghu Yibulayimu, Sutuke Zhao, Chunpeng Sang, Yudi Chen, Yimin Ge, Yufeng Sun, Qingnan Ming, Yang Bei, Mingjian Zhu, Gang Song, Yingchun Wang, Yu Wu, Xinbao Department of Orthopaedics and Traumatology Beijing Jishuitan Hospital Capital Medical University National Center for Orthopaedics Beijing 100035 China Key Laboratory of Biomechanics and Mechanobiology Ministry of Education Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China Beijing Rossum Robot Technology Co. Ltd Beijing China

Purpose: To evaluate the accuracy and reliability of a novel automated 3D CT-based method for measuring femoral neck anteversion (FNA) compared to three traditional manual methods. Methods: A total of 126 femurs from 63 full-length CT scans (35 men and 28 women;average age: 52.0 ± 14.7 years) were analyzed. The automated method used a deep learning network for femur segmentation, landmark identification, and anteversion calculation, with results generated based on two axes: Auto_GT (using the greater trochanter-to-intercondylar notch center axis) and Auto_P (using the piriformis fossa-to-intercondylar notch center axis). These results were validated through manual landmark annotation. The same dataset was assessed using three conventional manual methods: Murphy, Reikeras, and Lee methods. Intra- and inter-observer reliability were assessed using intraclass correlation coefficients (ICCs), and pairwise comparisons analyzed correlations and differences between methods. Results: The automated methods produced consistent FNA measurements (Auto_GT: 17.59 ± 9.16° vs. Auto_P: 17.37 ± 9.17° on the right;15.08 ± 9.88° vs. 14.84 ± 9.90° on the left). Intra-observer ICCs ranged from 0.864 to 0.961, and inter-observer ICCs between Auto_GT and the manual methods were high, except for the Lee method. No significant differences were observed between the two automated methods or between the automated and manual verification methods. Moreover, strong correlations (R > 0.9, p < 0.001) were found between Auto_GT and the manual methods. Conclusion: The novel automated 3D CT-based method demonstrates strong reproducibility and reliability for measuring femoral neck anteversion, with performance comparable to traditional manual techniques. These results indicate its potential utility for preoperative planning, postoperative evaluation, and computer-assisted orthopedic procedures. Clinical trial number: Not applicable. © The Author(s) 2025.

关键词： 3D CT Automated measurement Deep learning Femoral neck anteversion

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Kinematics and Dynamics Analysis of a Quadruped Walking robot with Parallel Leg Mechanism

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Chinese Journal of Mechanical Engineering 2013年第5期26卷 881-891页

作者： WANG Hongbo SANG Lingfeng HU Xing ZHANG Dianfan YU Hongnian Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Xi’an University of Architecture and Technology Science and Technology Research Institute Yanshan University School of Design Engineering and ComputingBournemouth University

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,***,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple ***,Improvement of enhancing capacity and functions of the walking robot is an important research *** to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is *** proposed robot can be used for both a biped and a quadruped walking *** kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are *** results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,*** on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk *** laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

关键词： walking robot parallel leg mechanism kinematics dynamics over-determinate inputs

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