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The 5th International Conference on Biomedical engineering and Biotechnology (ICBEB 2016) Abstracts

BMC MEDICAL IMAGING 2016年第SUPPL 1期16卷 65-65页

作者： [Anonymous] Department of MRI Shandong Medical Imaging Research Institute Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China Department of Interventional Radiology Shandong Provincial Hospital Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China College of Information Science and Technology Engr. Research Center of Digitized Textile & Fashion Tech. for Ministry of Education Donghua University Shanghai 201620 China Intelligent multimedia information processing Lab College of Software Northeastern University Shenyang Liaoning Province 110004 China Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China School of Computer Science and Technology Nanjing Normal University Nanjing China Department of Electrical Engineering The City College of New York CUNY New York USA Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing China School of Electronic Science and Engineering Nanjing University Nanjing Jiangsu 210046 China College of Engineering Nanyang Technological University Singapore 639798 Singapore School of Electronic Information Shanghai Dianji University Shanghai China School of Natural Sciences and Mathematics Shepherd University Shepherdstown WV 25443 USA Davis College of Agriculture Natural Resources and Design West Virginia University Morgantown WV 26505 USA State Key Laboratory of Millimeter Waves Southeast University Nanjing 210096 China Center of Medical Physics and Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China College of Agricultural and Life Sciences University of Florida Gainesville FL 32611 USA Courant Institute of Mathematical Sciences New York University New York NY 10012 USA Translational Imaging Division & MRI Unit Columbia University and New York State Psychiatric Institute New York NY 10032 USA Guangxi Key Laboratory of Manufacturing System & Adv

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Dynamic Dexterity Evaluation of a 3-DOF 3-PUU Parallel Manipulator Based on Generalized Inertia Matrix

Dynamic Dexterity Evaluation of a 3-DOF 3-PUU Parallel Manip...

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IEEE International Conference on Robotics and Biomimetics

作者： Song Lu Yangmin Lit Department of Electromechanical Engineering University of Macau Avenida da Universidade Taipa Macao China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781467396769

Dynamic performance evaluation that takes into account the inertial properties is an important issue for both the behavior analysis and dimensional synthesis of parallel kinematic manipulators (PKMs). Firstly, by virtue of the principle of virtual work, the complete inverse dynamic model of a 3-prismatic-universal-universal (PUU) parallel manipulator is formulated, which does not neglect the inertial and gravitational properties of the struts. The condition number of generalized inertia matrix can evaluate the mapping from joint accelerations to realizable joint torques. This paper utilizes the condition number of generalized inertia matrix as the index to evaluate the dynamic dexterity property of a 3-PUU PKM which possesses three translational degrees of freedom. For a given set of geometrical and inertia parameters, numerical simulations indicate that the global dynamic dexterity performance of this type of 3-PUU PKM is consistent with the local dynamic dexterity on a specific z--plane, it has the best dynamic dexterity at the center of task workspace and decreases from the center to the edge of task workspace.

关键词： Parallel kinematic manipulator performance evaluation dynamic dexterity generalized inertia matrix

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Knocking Detection in Gasoline Engines Based on Probability Density Functions: A Mixed Gaussian Distribution Approach

Knocking Detection in Gasoline Engines Based on Probability ...

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IEEE Annual Conference on Decision and control

作者： Tatsuya Ibuki Yasuhiro Awai Yoshihiro Sakayanagi Mitsuji Sampei Junichi Kako Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 JAPAN Advanced Engine Management System Development Div. Unit Center Toyota Motor Corporation Shizuoka 410-1193 JAPAN

ISBN: (纸本)9781479978878

This paper proposes an engine knocking detection approach based on probability density functions (PDFs). In this work, we suppose that the PDF of knocking intensity distribution can be approximated by a mixture of two Gaussian functions due to normal combustion and abnormal one. We first apply EM (Expectation-Maximization) algorithm to actual engine data to show that the knocking intensity probability distribution can be successfully estimated by the mixed Gaussian distribution. We next try to apply the existing online EM algorithm in view of the actual implementation by an engine control unit. However, since the existing algorithm is built for the estimation of a fixed PDF, the effect of new input data is gradually attenuated and vanishes after long time. We thus newly propose a modified online EM algorithm so that the effect of the new input data is not attenuated. Finally, we perform simulations and an actual engine bench test for the validity of the present approach.

关键词： expectation-maximisation algorithm gasoline engine Gaussian distribution incoming data Probability density function engine pedestal

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Simple on-line observation and compensation of dead-time effects

Simple on-line observation and compensation of dead-time eff...

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14th International Conference on Railway engineering Design and Optimization, COMPRAIL 2014

作者： Jung, S.M. Park, C.B. Kim, J.H. Lee, S.H. Kim, H.W. Advanced Traction and Noncontact Feeding System Research Team Korea Railroad Research Institute Korea Republic of Department of Control and Instrumentation Engineering Korea National University of Transportation Korea Republic of

ISBN: (纸本)9781845647667

Generally, there exist voltage differences between the voltage commands and the output voltages of the three-phase pulse-width modulated (PWM) voltage-source inverter (VSI), which are caused by the intended dead-time to prevent the armshort of a leg and the nonlinearities of switching devices. These voltage differences (or voltage distortion) affect the current distortion, torque pulsations, and degradation of control performances. To overcome these drawbacks, a simple and low-cost observation and compensation method of the voltage distortion is proposed. The proposed method is employing model reference adaptive system (MRAS) techniques and does not require any additional hardware circuits such as voltage sensors. The voltage distortions caused by the nonlinearities of the switching devices are estimated by a voltage distortion observer which is based on the electrical model of the PMSM. And the estimated voltage distortions are fed-forward to compensate the voltage commands. In comparison with the previous existing methods, the proposed method has a simple structure and good performances. Also, it can be implemented without any extra devices such as voltage sensors and the computing effort is very small. The execution of the algorithm can be easily embedded in the existing systems without major modification. To show the effectiveness of the proposed method, the experiments are carried out for the digitally controlled PMSM drive system. The experimental results verify the validity of the proposed method and show that the proposed method gives good performance and practical value. © 2014 WIT Press.

关键词： Electric inverters

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A heuristic ranking approach on capacity benefit margin determination using pareto-based evolutionary programming technique

Scientific World Journal

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Scientific World Journal 2015年第1期2015卷 731013页

作者： Othman, Muhammad Murtadha Abd Rahman, Nurulazmi Musirin, Ismail Fotuhi-Firuzabad, Mahmud Rajabi-Ghahnavieh, Abbas Committee of Research (CORE) Advanced Computing and Communication (ACC) Universiti Teknologi MARA Shah Alam Selangor 40450 Malaysia Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Selangor 40450 Malaysia Engineering Centre University Malaysia Perlis Kampus Kubang Gajah Arau Perlis 02600 Malaysia Centre of Excellence in Power System Management and Control Electrical Engineering Department Sharif University of Technology Tehran 11365-11155 Iran Department of Energy Engineering Sharif University of Technology Tehrana 11365-11155 Iran

This paper introduces a novel multiobjective approach for capacity benefit margin (CBM) assessment taking into account tie-line reliability of interconnected systems. CBM is the imperative information utilized as a reference by the load-serving entities (LSE) to estimate a certain margin of transfer capability so that a reliable access to generation through interconnected system could be attained. A new Pareto-based evolutionary programming (EP) technique is used to perform a simultaneous determination of CBM for all areas of the interconnected system. The selection of CBM at the Pareto optimal front is proposed to be performed by referring to a heuristic ranking index that takes into account system loss of load expectation (LOLE) in various conditions. Eventually, the power transfer based available transfer capability (ATC) is determined by considering the firm and nonfirm transfers of CBM. A comprehensive set of numerical studies are conducted on the modified IEEE-RTS79 and the performance of the proposed method is numerically investigated in detail. The main advantage of the proposed technique is in terms of flexibility offered to an independent system operator in selecting an appropriate solution of CBM simultaneously for all areas. © 2015 Muhammad Murtadha Othman et al.

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Comparative study of two 3-CRU translational parallel manipulators

Comparative study of two 3-CRU translational parallel manipu...

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IEEE International Conference on Robotics and Biomimetics

作者： Bin Li Yangmin Li Xinhua Zhao Weimin Ge Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China Department of Electromechanical Engineering University of Macau Taipa Macao SAR China

ISBN: (纸本)9781479973989

Two types of 3-CRU translational parallel manipulators (TPM) are compared and investigated in this paper. The two 3-CRU TPMs have identical kinematics, but some differences exist in terms of the chain arrangement, one is in fully symmetrical chain arrangement, called symmetrical 3-CRU TPM, the other one is in asymmetrical chain arrangement, called asymmetrical 3-CRU TPM. This paper focuses on discussing the differences between the two 3-CRU TPMs in kinematics, workspace and performance. This study provides insights into parallel manipulators with identical kinematics arranged differently.

关键词： Manipulators Joints Kinematics Actuators Layout Rails Integrated circuits

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Inverse dynamics analysis of a 6-PSS parallel manipulator

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8918卷 12-23页

作者： Xu, Weiyuan Li, Yangmin Lu, Song Xiao, Xiao Department of Electromechanical Engineering University of Macau Avenida da Universidade Taipa Macao SAR China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin300384 China

In this paper, a new six degrees of freedom (6-DOF) parallel manipulator with adjustable actuators is proposed. The kinematic model is firstly established and the kinematic analysis is performed afterward. Then the equations of motion are developed based on the concept of link Jacobian matrices. Finally, the principle of virtual work is applied to analyze the dynamics of this 6-PSS parallel manipulator. This methodology can be used on other types of parallel manipulators not only for 6-DOF but also with less than 6-DOF. To solve the inverse dynamics of the manipulator, a computational algorithm is developed and two trajectories of the moving platform are simulated. © Springer International Publishing Switzerland 2014.

关键词： Dynamics

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Design and analysis of a decoupled XY micro compliant parallel manipulator

Design and analysis of a decoupled XY micro compliant parall...

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IEEE International Conference on Robotics and Biomimetics

作者： Bingxiao Ding Yangmin Li Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin China Department of Electromechanical Engineering University of Macau Avenida da Universidade China

ISBN: (纸本)9781479973989

In this paper, a new compliant parallel mechanism driven by piezoelectric actuators is designed, which is a modified structure from our previous designed stage. In order to compensate the limited stroke of PZT, the secondary amplification mechanism was adopted in this design, and also the matrix method is utilized to calculate its stiffness and compliance for this compliant mechanism. In practical application, the accuracy of mechanism is an essential index that we wish to achieve, meanwhile the parasitic motion analysis, dynamic and static analysis are also presented in this paper. The method is validated by finite element analysis to demonstrate its effectiveness.

关键词： Fasteners Mathematical model Force Transmission line matrix methods Accuracy Analytical models Kinetic energy

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Design and Analysis of a Spatial 2-RPU & SPR Parallel Manipulator with 1T2R-Type

Design and Analysis of a Spatial 2-RPU & SPR Parallel Manipu...

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International Conference on control, Automation, Robotics & Vision

作者： Bin Li Yangmin Li Xinhua Zhao Yuwei Yang Department of Electromechanical Engineering University of Macau Taipa Macao SAR China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781479952007

A spatial 2-RPU&SPR parallel manipulator (PM) with three degrees of freedom (DOF) is proposed in this paper. The architecture of the manipulator is comprised of a moving platform attached to a base through two revolute-prismatic-universal jointed serial linkages and one spherical-prismatic-revolute jointed serial linkage. The prismatic motions of the prismatic joints are considered to be actively actuated. The moving platform of the manipulator has one-translational and two rotational (1T2R) DOFs with respect to the fixed base. The kinematics including forward and inverse position analysis is analyzed. At last, the simulations of position and velocity of the manipulator are made to validate the algorithm.

关键词： Design Analysis Parallel Manipulator

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